Multi-rate control architectures for dextrous haptic rendering in cooperative virtual environments

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2006, Pages 4478-4483

  Fotoohi, M ^a   Sirouspour, S ^a   Capson, D ^a  

^a MCMASTER UNIVERSITY   (Canada)

Author keywords

Collaborative haptics; Collaborative virtual environments; Cooperative haptics; Haptic interfce control; Multi rate systems; Multi user haptics

Indexed keywords

CONTROL EQUIPMENT; DISTRIBUTED PARAMETER CONTROL SYSTEMS; LOCAL AREA NETWORKS; MATHEMATICAL MODELS; TRANSMISSION CONTROL PROTOCOL; VIRTUAL REALITY;

COLLABORATIVE HAPTICS; COLLABORATIVE VIRTUAL ENVIRONMENTS; COOPERATIVE HAPTICS; DATA PACKET TRANSMISSION; HAPTIC INTERFCE CONTROL; MULTI-RATE SYSTEMS; MULTI-USER HAPTICS;

HAPTIC INTERFACES;

EID: 39649096499     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/cdc.2006.377163     Document Type: Conference Paper

References (18)

1. R. Waters and J. W. Barrus, "The rise of shared virtual environments," in Int. Symposium on Hapanic Interfaces for Virtual Environment and Teleoperator Systems, pp. 20-25, March 1997.
2. C. Basdogan, C. H. Ho, M. A. Srinivasan, and M. Slater, "An experimental study on the role of touch in shared virtual environments," ACM Transactions on Computer-Human Interaction, vol. 7, pp. 443-460, 2000.
3. J. Colgate and G. Schenkel, "Passivity of a class of sampled-data systems: Application to haptic interfaces," J. Robot. Syst., vol. 14, no. 1, pp. 37-47, 1997.
4. M. Sirouspour, S. Dimaio, S. Salcudean, P. Abolmaesumi, and C. Jones, "Haptic interface control-design issues and experiments with a planar device," in Proc. IEEE Int. Conf. Robot. Automat., pp. 789-794, April 2000.
5. R. Adams and B. Hannaford, "Control law design for haptic interfaces to virtual reality," IEEE Transactions on Control Systems Technology, vol. 10, no. 1, pp. 3-13, 2002.
6. M. Mahvash and V Hayward, "Passivity-based high-fidelity haptic rendering of contact," in Proc. IEEE Int. Conf. Robot. Automat., pp. 3722-3728, 2003.
7. V. Hayward and et al., "Haptic devices and interfaces," Sensor Review, vol. 24, no. 1, pp. 16-29, 2004.
8. J.-H. Ryu, Y. Kim, and B. Hannaford, "Sampled- and continuous-time passivity and stability of virtual environments," IEEE Transactions on Robotics, vol. 20, no. 4, pp. 772-776, 2004.
9. F. Barbagli, D. Prattichizzo, and K. Salisbury, "A Multirate approach to haptic interaction with deformable objects single and multipoint contacts," The International Journal of Robotics Research, vol. 24, no. 9, pp. 703-715, 2005.
10. T. Yoshikawa and H. Ueda, "Construction of virtual world using dynamics modules and interaction modules," in Proc. IEEE Int. Conf. Robot. Automat., pp. 2358-2364, April 1996.
11. P. Buttolo, R. Oboe, and B. Hannaford, "Architectures for shared haptic virtual environments," Computers and Graphics, vol. 21, pp. 421-429, 1997.
12. K. Hikichi, H. Morino, I. A. K. Sezaki, and Y. Yasuda, "The evaluation of delay jitter for haptics collaboration over the Internet," in IEEE Global Telecommunications Conference, pp. 17-21, Nov 2002.
13. M. Alhalabi, S. Horiguchi, and S. Kunifuji, " An experimental study on the effects of network delay in cooperative shared haptic virtual environment," Computers and Graphics, vol. 27, pp. 205-213(9), 2003.
14. H. Arioui, A. Kheddar, and S. Mammar, "Architectures for shared haptic virtual environments," Journal of Intelligent and Robotic Systems, vol. 37, pp. 193-207, 2003.
15. C. Carignan and P. Olsson, "Cooperative control of virtual objects over the Internet using force-reflecting master arms," in Proc. IEEE Int. Conf. Robot. Automat., pp. 1221-1226, April 2004.
16. K. Jeffay, T. Hudson, and M. Parris, "Beyond audio and video: multimedia networking support for distributed, immersive virtual environments," in Euromicro Conference., pp. 300-307, September 2001.
17. K. Astrom and B. Wittenmark, Computer-Controlled Systems: Theory and Design, 3rd Edition. Prentice Hall, 1997.
18. M. Araki and K. Yamamoto, "Multivariable multirate sampled-data systems: state-space description, transfer characteristics, and Nyquist criterion," IEEE Transactions on Automatic Control, vol. 31, pp. 145-154, 1986.