Stable multi-user interaction with cooperative haptic virtual environments by a modification of passive set-position modulation
Identifieur interne : 002715 ( Main/Exploration ); précédent : 002714; suivant : 002716Stable multi-user interaction with cooperative haptic virtual environments by a modification of passive set-position modulation
Auteurs : R. Jaberzadeh Ansari [Iran] ; M. Zareinejad [Iran] ; S. M. Rezaei [Iran] ; K. Baghestan [Iran] ; N. Sarli [Iran]Source :
- IET control theory & applications : (Print) [ 1751-8644 ] ; 2012.
Descripteurs français
- Pascal (Inist)
- Interface utilisateur, Coopération, Réalité virtuelle, Passivité, Téléopération, Réseau virtuel, Sensibilité tactile, Station travail, Ethernet, Réseau local, Canal transmission, Délai transmission, Perte transmission, Canal transmission avec perte, Instabilité, Fidélité, Gigue, Oscillation, Boucle fermée, Rigidité, Simulation ordinateur.
- Wicri :
- topic : Réalité virtuelle, Réseau local.
English descriptors
- KwdEn :
- Closed loop, Computer simulation, Cooperation, Ethernet, Fidelity, Instability, Jitter, Local network, Lossy channel, Oscillation, Passivity, Remote operation, Stiffness, Tactile sensitivity, Transmission channel, Transmission loss, Transmission time, User interface, Virtual network, Virtual reality, Workstation.
Abstract
This study is concerned with interaction in multi-user/cooperative haptic virtual environments. In such systems, users can haptically interact with a shared virtual world from numerous workstations over an Ethernet local area network. Characteristics of communication channels, such as delay, jitter and packet loss, can potentially investigate undesirable oscillations/instability. Passivity as a benchmark for stability, specifically in the stability analysis of coupled systems like teleoperations or haptics, has the disadvantage of being overconservative. Hence, it compromises fidelity of interaction. Passive set-position modulation (PSPM), which was first used to impose teleoperation closed-loop passivity is utilised in this study for a networked virtual haptic environment. Enforcing the closed-loop passivity of multi-user haptic interaction, this approach allows virtually all ranges of stiffness to be rendered by numerous users no matter what the network circumstances are. The new modified PSPM framework was validated through some simulations and experiments.
Affiliations:
Links toward previous steps (curation, corpus...)
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Le document en format XML
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<term>Perte transmission</term>
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<term>Instabilité</term>
<term>Fidélité</term>
<term>Gigue</term>
<term>Oscillation</term>
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<front><div type="abstract" xml:lang="en">This study is concerned with interaction in multi-user/cooperative haptic virtual environments. In such systems, users can haptically interact with a shared virtual world from numerous workstations over an Ethernet local area network. Characteristics of communication channels, such as delay, jitter and packet loss, can potentially investigate undesirable oscillations/instability. Passivity as a benchmark for stability, specifically in the stability analysis of coupled systems like teleoperations or haptics, has the disadvantage of being overconservative. Hence, it compromises fidelity of interaction. Passive set-position modulation (PSPM), which was first used to impose teleoperation closed-loop passivity is utilised in this study for a networked virtual haptic environment. Enforcing the closed-loop passivity of multi-user haptic interaction, this approach allows virtually all ranges of stiffness to be rendered by numerous users no matter what the network circumstances are. The new modified PSPM framework was validated through some simulations and experiments.</div>
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