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This paper proposes a distributed haptic control architecture whose coordination gain at each user site is independent of the number of cooperating peers. In the proposed architecture, users interact through manipulating a shared virtual object (SVO) together. The distributed copies of the SVO are controlled through virtual couplers. At each peer, the gain of the force feedback loop is maintained...
This paper investigates through experiments the performance of two recent control architectures for networked haptic cooperation. The two architectures can render direct haptic interaction between networked users in addition to cooperative manipulation of virtual objects. This is because both architectures employ remote dynamic proxies to represent users at their networked peer sites. The remote dynamic...
Networked haptic cooperation entails direct interaction among users as well as joint manipulation of virtual objects. To increase the realism of both types of interactions, this paper introduces remote dynamic proxies. Remote dynamic proxies are second order dynamic representations of users at the remote peer sites. They are generated according to dynamics laws and are controlled by the user whom...
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