TY - GEN
T1 - Virtual coupling schemes for position coherency in networked haptic environments
AU - Sankaranarayanan, Ganesh
AU - Hannaford, Blake
PY - 2006
Y1 - 2006
N2 - In networked haptic environments, multiple users remotely collaborate sharing the same virtual space. Such environments are used in surgical simulation training, maintenance task training, etc. Maintaining position coherency between the copies of the virtual object in these environments is necessary to achieve consistency in collaboration, especially in the presence of time delays between users. Client-server architecture is widely used to maintain position coherency in networked haptic environments. Such methods introduce a round trip delay for each user and also the collaboration depends on the client's ability to maintain communication with the server. In peer-to-peer architecture where the information from each user is multicasted to all other users, time delay is reduced to half compared to client-server based methods. It is also the most difficult method for maintaining position coherency. Of the three virtual coupling schemes introduced to maintain position coherency in this paper, two utilize a peer-to-peer architecture. The performance of the schemes using peer-to-peer architecture for constant time delays was compared to the virtual coupling scheme representing the client-server method. Experimental results demonstrate that one of the virtual coupling schemes has a comparable performance to the server-based method.
AB - In networked haptic environments, multiple users remotely collaborate sharing the same virtual space. Such environments are used in surgical simulation training, maintenance task training, etc. Maintaining position coherency between the copies of the virtual object in these environments is necessary to achieve consistency in collaboration, especially in the presence of time delays between users. Client-server architecture is widely used to maintain position coherency in networked haptic environments. Such methods introduce a round trip delay for each user and also the collaboration depends on the client's ability to maintain communication with the server. In peer-to-peer architecture where the information from each user is multicasted to all other users, time delay is reduced to half compared to client-server based methods. It is also the most difficult method for maintaining position coherency. Of the three virtual coupling schemes introduced to maintain position coherency in this paper, two utilize a peer-to-peer architecture. The performance of the schemes using peer-to-peer architecture for constant time delays was compared to the virtual coupling scheme representing the client-server method. Experimental results demonstrate that one of the virtual coupling schemes has a comparable performance to the server-based method.
KW - Collaborative virtual environments
KW - Force feedback
KW - Haptic displays
KW - Virtual coupling
KW - Virtual reality
UR - http://www.scopus.com/inward/record.url?scp=33845574353&partnerID=8YFLogxK
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U2 - 10.1109/BIOROB.2006.1639197
DO - 10.1109/BIOROB.2006.1639197
M3 - Conference contribution
AN - SCOPUS:33845574353
SN - 1424400406
SN - 9781424400409
T3 - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
SP - 853
EP - 858
BT - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
T2 - 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Y2 - 20 February 2006 through 22 February 2006
ER -