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Passive shared virtual environment for haptic cooperation

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Abstract

For distributed haptic cooperation systems, this paper develops a framework for virtual environments such that the design of the coordinating controllers is decoupled from the network topology and the communication issues. A passive paradigm is introduced for shared virtual object (SVO) with n distributed copies on communications with unreliable data transmission. The n-port passivity of the SVO system is proved and followed by the steady-state analysis. Three-user haptic cooperation experiments validate the theoretical findings.

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Authors and Affiliations

  1. Department of Mechanical Engineering, University of Victoria, Victoria, BC, Canada

    Ramtin Rakhsha, Daniela Constantinescu & Yang Shi

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  1. Ramtin Rakhsha
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  2. Daniela Constantinescu
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  3. Yang Shi
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Correspondence to Ramtin Rakhsha.

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This work has been supported by the Natural Sciences and Engineering Research Council of Canada through an NSERC Discovery Grant.

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Rakhsha, R., Constantinescu, D. & Shi, Y. Passive shared virtual environment for haptic cooperation. Auton Robot 43, 1489–1504 (2019). https://doi.org/10.1007/s10514-018-9809-3

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