End-to-end packet delay and loss behavior in the internet
SIGCOMM '93 Conference proceedings on Communications architectures, protocols and applications
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Proceedings of the 26th annual conference on Computer graphics and interactive techniques
End-to-end internet packet dynamics
IEEE/ACM Transactions on Networking (TON)
An experimental study on the role of touch in shared virtual environments
ACM Transactions on Computer-Human Interaction (TOCHI) - Special issue on human-computer interaction and collaborative virtual environments
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ACM Transactions on Computer-Human Interaction (TOCHI) - Special issue on human-computer interaction and collaborative virtual environments
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KMN '02 Proceedings of the IEEE Workshop on Knowledge Media Networking
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LCN '00 Proceedings of the 25th Annual IEEE Conference on Local Computer Networks
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IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 3 - Volume 3
NIST Net: a Linux-based network emulation tool
ACM SIGCOMM Computer Communication Review
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Presence: Teleoperators and Virtual Environments - Special issue: Advances in collaborative virtual environments
Motion Synchronization in Virtual Environments with Shared Haptics and Large Time Delays
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
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WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Experiments for a Collaborative Haptic Virtual Reality
ICAT '06 Proceedings of the 16th International Conference on Artificial Reality and Telexistence--Workshops
Proceedings of the 1st international conference on Robot communication and coordination
Group synchronization control for haptic media in networked virtual environments
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Proceedings of the 1st international conference on Robot communication and coordination
Effect of time delay on telesurgical performance
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Gesture coordination in collaborative tasks through augmented haptic feedthrough
EGVE - JVRC'10 Proceedings of the 16th Eurographics conference on Virtual Environments & Second Joint Virtual Reality
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Networked haptic virtual environments (NHVEs) are those in which multiple users collaborate and experience force feedback at the same time. The robustness of such systems needs to be tested under various network conditions that closely mirror the Internet. Previously, we had proposed three virtual coupling schemes to maintain position coherency in a NHVE, which were tested using constant and then time-varying delays using the actual Internet through UDP packet reflectors. In this paper we present the results of comparing performance of the virtual coupling schemes for a time varying delay emulated using the popular network emulator NIST Net, with delay conditions that existed during our real Internet experiment to Italy. UDP was used for haptic data communication because of the high transmission rate requirements for NHVEs. Experiments were conducted for three fixed packet transmission rates of 1000, 500 and 100 Hz, and their performance compared using an independent-samples t-test to the data obtained using the Internet. Locally, the haptic update rate was maintained at 1000 Hz during the experiments. Our results show that the NIST Net was a suitable emulator for testing with lower packet transmission rates. At the transmission rate of 1000 Hz the performance of the virtual coupling schemes were significantly different from that of the actual Internet experiment.