TY - GEN
T1 - Experimental comparison of internet haptic collaboration with time-delay compensation techniques
AU - Sankaranarayanan, Ganesh
AU - Hannaford, Blake
PY - 2008
Y1 - 2008
N2 - In this paper we analyzed the performance of a peer-to-peer haptic collaboration system with two users jointly manipulating an object with mass and damping properties. We used objective measures to compare tuned PD, wave variables and time domain passivity controllers subject to real time delays from the Internet through similar experimental parameters. We set up a packet reflector network at our collaborators' servers in order to able to perform the experiment with subjects located in the same laboratory. Subjects were blinded to which controller was used and received them in a randomized sequence. UDP data packets were used for haptic data communication and the packet transmission rate was maintained at 1000 Hz. Our experimental results show that the tuned PD controller gave the best performance in terms of position error and wave variables in terms of force.
AB - In this paper we analyzed the performance of a peer-to-peer haptic collaboration system with two users jointly manipulating an object with mass and damping properties. We used objective measures to compare tuned PD, wave variables and time domain passivity controllers subject to real time delays from the Internet through similar experimental parameters. We set up a packet reflector network at our collaborators' servers in order to able to perform the experiment with subjects located in the same laboratory. Subjects were blinded to which controller was used and received them in a randomized sequence. UDP data packets were used for haptic data communication and the packet transmission rate was maintained at 1000 Hz. Our experimental results show that the tuned PD controller gave the best performance in terms of position error and wave variables in terms of force.
UR - http://www.scopus.com/inward/record.url?scp=51649096915&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2008.4543210
DO - 10.1109/ROBOT.2008.4543210
M3 - Conference contribution
AN - SCOPUS:51649096915
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 206
EP - 211
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -