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
Supporting presence in collaborative environments by haptic force feedback
ACM Transactions on Computer-Human Interaction (TOCHI) - Special issue on human-computer interaction and collaborative virtual environments
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Transatlantic touch: a study of haptic collaboration over long distance
Presence: Teleoperators and Virtual Environments - Special issue: Advances in collaborative virtual environments
Improving Perception in Time-delayed Telerobotics
International Journal of Robotics Research
A Peer-to-peer Architecture for Collaborative Haptic Assembly
DS-RT '06 Proceedings of the 10th IEEE international symposium on Distributed Simulation and Real-Time Applications
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This paper describes a 6 DOFs haptic cooperative platform dedicated to CAD objects simulation and virtual prototyping tasks. This system is based on several distributed physical engines linked together by a network subject to time delay. To deal with the destabilizing effect of time delay, a wave variable transformation is used. The wave variable formalism is adapted to the platform, therefore the behavior of each physical engine is similar. Several prototyping tasks have been tested on this system. A case is presented where two users are manipulating two distinct objects and interacting with each other.