Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444631
D. W. Schloerb, O. Lahav, J. G. Desloge, M. Srinivasan
BlindAid is a virtual environment (VE) system that enables blind people to more easily learn about new environments on their own. The system is implemented on a desktop personal computer with a Phantom? haptic interface and three-dimensional spatialized audio. In addition to providing blind users with non-visual stimuli similar to what they will depend on in the actual environment, the system is designed to enhance and accelerate the user's understanding of the unknown environment by giving him/her the ability to interact with the VE in ways that are not possible in the real world. The BlindAid system was developed and evaluated as part of an experimental study related to how people who are blind build cognitive maps of their physical environment and how recent advances in VE technology might support orientation and mobility (O&M) training. The current system is able to provide a visual display and record the user's actions in the VE for later review by researchers and O&M instructors. The paper focuses on the technical development of the system with some results from an initial evaluation by four blind volunteers.
{"title":"BlindAid: Virtual environment system for self-reliant trip planning and orientation and mobility training","authors":"D. W. Schloerb, O. Lahav, J. G. Desloge, M. Srinivasan","doi":"10.1109/HAPTIC.2010.5444631","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444631","url":null,"abstract":"BlindAid is a virtual environment (VE) system that enables blind people to more easily learn about new environments on their own. The system is implemented on a desktop personal computer with a Phantom? haptic interface and three-dimensional spatialized audio. In addition to providing blind users with non-visual stimuli similar to what they will depend on in the actual environment, the system is designed to enhance and accelerate the user's understanding of the unknown environment by giving him/her the ability to interact with the VE in ways that are not possible in the real world. The BlindAid system was developed and evaluated as part of an experimental study related to how people who are blind build cognitive maps of their physical environment and how recent advances in VE technology might support orientation and mobility (O&M) training. The current system is able to provide a visual display and record the user's actions in the VE for later review by researchers and O&M instructors. The paper focuses on the technical development of the system with some results from an initial evaluation by four blind volunteers.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"127 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132270371","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444681
Elaine Y. Wong, A. Israr, M. O'Malley
In this paper, we evaluate the ability of four able-bodied participants to discriminate the articulation location for spoken consonants, using tactile cues presented on the dorsal side of their forearm. Additionally, we determine the processing capability of the dorsal forearm's skin with a tactile sleeve worn by ten participants using two psychophysical studies. Our first study shows that 2–3 tactors arranged along the length of the forearm can be reliably identified by human users, when only the location of vibration is varied. Our second study indicates that the physical placement of localized vibrations map linearly to the perceived physical arrangement. Based on these findings, the subsequent speech experiment uses six tactors placed equidistant from each other and maps location of the constriction inside the mouth as directional cues on the forearm. Results of the speech study show that participants are able to indicate which of two randomly presented tactile cues (derived from consonant-vowel-consonant (CVC) non-sense syllables) has the preceding consonant closer to the lips. The discrimination performance is better (i) with fricatives than plosives, (ii) when the consonants are produced further apart inside the mouth, and (iii) when both place and manner of articulation feature is varied. The study also shows that discrimination performance with cues applied to the forearm is inferior to that with the fingerpads utilized in a previous study.
{"title":"Discrimination of consonant articulation location by tactile stimulation of the forearm","authors":"Elaine Y. Wong, A. Israr, M. O'Malley","doi":"10.1109/HAPTIC.2010.5444681","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444681","url":null,"abstract":"In this paper, we evaluate the ability of four able-bodied participants to discriminate the articulation location for spoken consonants, using tactile cues presented on the dorsal side of their forearm. Additionally, we determine the processing capability of the dorsal forearm's skin with a tactile sleeve worn by ten participants using two psychophysical studies. Our first study shows that 2–3 tactors arranged along the length of the forearm can be reliably identified by human users, when only the location of vibration is varied. Our second study indicates that the physical placement of localized vibrations map linearly to the perceived physical arrangement. Based on these findings, the subsequent speech experiment uses six tactors placed equidistant from each other and maps location of the constriction inside the mouth as directional cues on the forearm. Results of the speech study show that participants are able to indicate which of two randomly presented tactile cues (derived from consonant-vowel-consonant (CVC) non-sense syllables) has the preceding consonant closer to the lips. The discrimination performance is better (i) with fricatives than plosives, (ii) when the consonants are produced further apart inside the mouth, and (iii) when both place and manner of articulation feature is varied. The study also shows that discrimination performance with cues applied to the forearm is inferior to that with the fingerpads utilized in a previous study.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132614567","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444645
Seokhee Jeon, Seungmoon Choi
Haptic Augmented Reality (AR) allows a user to touch a real environment augmented with synthetic haptic stimuli. For example, medical students can palpate a virtual tumor inside a real mannequin using a haptic AR system to practice cancer detection. To realize such functionality, we need to alter the haptic attributes of a real object by means of virtual haptic feedback. Previously, we presented a haptic AR system with stiffness as a goal modulation property, and demonstrated its competent physical and perceptual performances for 1D interaction. In this paper, we extend the system so that a user can interact with a real object in any 3D exploratory pattern while perceiving its augmented stiffness. A series of algorithms are developed for contact detection, deformation estimation, force rendering, and force control. Their performances are thoroughly evaluated with real samples. A particular focus has been on minimizing the amount of preprocessing such as geometry modeling. Our haptic AR system can provide convincing stiffness modulation for real objects of relatively homogeneous deformation properties. The limitations of our AR system are also discussed along with a plan for future work.
{"title":"Stiffness modulation for Haptic Augmented Reality: Extension to 3D interaction","authors":"Seokhee Jeon, Seungmoon Choi","doi":"10.1109/HAPTIC.2010.5444645","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444645","url":null,"abstract":"Haptic Augmented Reality (AR) allows a user to touch a real environment augmented with synthetic haptic stimuli. For example, medical students can palpate a virtual tumor inside a real mannequin using a haptic AR system to practice cancer detection. To realize such functionality, we need to alter the haptic attributes of a real object by means of virtual haptic feedback. Previously, we presented a haptic AR system with stiffness as a goal modulation property, and demonstrated its competent physical and perceptual performances for 1D interaction. In this paper, we extend the system so that a user can interact with a real object in any 3D exploratory pattern while perceiving its augmented stiffness. A series of algorithms are developed for contact detection, deformation estimation, force rendering, and force control. Their performances are thoroughly evaluated with real samples. A particular focus has been on minimizing the amount of preprocessing such as geometry modeling. Our haptic AR system can provide convincing stiffness modulation for real objects of relatively homogeneous deformation properties. The limitations of our AR system are also discussed along with a plan for future work.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114630968","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444672
Kristina Huynh, Cara E. Stepp, Lee W. White, J. E. Colgate, Y. Matsuoka
Humans use tactile and kinesthetic cues to easily identify the location of an object feature without vision. This preliminary work quantitatively examined the behaviors of 15 individuals locating a target on an object with a single digit (index or thumb). Search methods could be categorized into one of three search strategies, termed “scanning,” “landmark,” and “direct.” The scanning strategy consisted of (1)back and forth scanning and (2)confirmation of the target, and was always utilized in trials in which the target location was unknown. The landmark strategy consisted of (1)contour following, (2)ballistic movement from an edge toward the target, and (3)error correction and confirmation of the target. The direct strategy consisted of (1)ballistic movement from the start position directly to the target, and (2)error correction and confirmation of the target. Follow-up relocalization trials were executed with the landmark strategy 42% and the direct strategy 58% of the time. The landmark strategy was utilized significantly more often by the index finger than by the thumb. Future work to understand how strategy selection depends on the strength of an individual's internal model of the 3D object and the uncertainty of finger location with respect to the object will inform the development of a computational model of human object exploration.
{"title":"Finding a feature on a 3D object through single-digit haptic exploration","authors":"Kristina Huynh, Cara E. Stepp, Lee W. White, J. E. Colgate, Y. Matsuoka","doi":"10.1109/HAPTIC.2010.5444672","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444672","url":null,"abstract":"Humans use tactile and kinesthetic cues to easily identify the location of an object feature without vision. This preliminary work quantitatively examined the behaviors of 15 individuals locating a target on an object with a single digit (index or thumb). Search methods could be categorized into one of three search strategies, termed “scanning,” “landmark,” and “direct.” The scanning strategy consisted of (1)back and forth scanning and (2)confirmation of the target, and was always utilized in trials in which the target location was unknown. The landmark strategy consisted of (1)contour following, (2)ballistic movement from an edge toward the target, and (3)error correction and confirmation of the target. The direct strategy consisted of (1)ballistic movement from the start position directly to the target, and (2)error correction and confirmation of the target. Follow-up relocalization trials were executed with the landmark strategy 42% and the direct strategy 58% of the time. The landmark strategy was utilized significantly more often by the index finger than by the thumb. Future work to understand how strategy selection depends on the strength of an individual's internal model of the 3D object and the uncertainty of finger location with respect to the object will inform the development of a computational model of human object exploration.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124510008","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444635
Jaebong Lee, Seungmoon Choi
One of the primary goals of haptic guidance is to facilitate the learning of complex human motor skills by providing haptic cues that are helpful to induce desired movements. Nevertheless, a majority of previous studies have found that haptic guidance is ineffective, or sometimes even detrimental, to motor skill learning. In this paper, we propose the opposite concept, haptic disturbance, and evaluate its efficacy. In haptic disturbance, haptic cues that interfere with the movements of a learner are presented during training. We designed two methods of haptic disturbance using repulsive and noise-like forces, respectively. The effects of these methods were experimentally assessed, comparatively with the conventional methods of visual learning only and progressive haptic guidance. The motor task was to track a dot moving on a 2D plane with a haptic interface operated with one arm. We found that during training, the progressive haptic guidance showed the best tracking accuracy, but in immediate and delayed retention tests, the noise-like haptic disturbance led to the best performance. The results suggest high potentials for haptic disturbance to be a general strategy for expediting the motor learning process.
{"title":"Effects of haptic guidance and disturbance on motor learning: Potential advantage of haptic disturbance","authors":"Jaebong Lee, Seungmoon Choi","doi":"10.1109/HAPTIC.2010.5444635","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444635","url":null,"abstract":"One of the primary goals of haptic guidance is to facilitate the learning of complex human motor skills by providing haptic cues that are helpful to induce desired movements. Nevertheless, a majority of previous studies have found that haptic guidance is ineffective, or sometimes even detrimental, to motor skill learning. In this paper, we propose the opposite concept, haptic disturbance, and evaluate its efficacy. In haptic disturbance, haptic cues that interfere with the movements of a learner are presented during training. We designed two methods of haptic disturbance using repulsive and noise-like forces, respectively. The effects of these methods were experimentally assessed, comparatively with the conventional methods of visual learning only and progressive haptic guidance. The motor task was to track a dot moving on a 2D plane with a haptic interface operated with one arm. We found that during training, the progressive haptic guidance showed the best tracking accuracy, but in immediate and delayed retention tests, the noise-like haptic disturbance led to the best performance. The results suggest high potentials for haptic disturbance to be a general strategy for expediting the motor learning process.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"2006 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123802026","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444676
D. Pawluk, R. Kitada, Aneta Abramowicz, C. Hamilton, S. Lederman
This study begins to address the nature of human haptic perceptual organization by examining “figure/ground” segmentation from a haptic perspective (i.e., differentiating an object from its supporting surface). The experiment focuses on the perception of the presence of an object via brief contact (i.e., a haptic glance) when both kinetic properties and geometric properties are manipulated. The results suggest that contact with objects that are moveable (cf. fixed) and tall (cf. short) greatly increases the perceived probability that an object is present. The effect of kinetics is further heightened when moveable objects have convexly curved bases.
{"title":"Haptic figure-ground differentation via a haptic glance","authors":"D. Pawluk, R. Kitada, Aneta Abramowicz, C. Hamilton, S. Lederman","doi":"10.1109/HAPTIC.2010.5444676","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444676","url":null,"abstract":"This study begins to address the nature of human haptic perceptual organization by examining “figure/ground” segmentation from a haptic perspective (i.e., differentiating an object from its supporting surface). The experiment focuses on the perception of the presence of an object via brief contact (i.e., a haptic glance) when both kinetic properties and geometric properties are manipulated. The results suggest that contact with objects that are moveable (cf. fixed) and tall (cf. short) greatly increases the perceived probability that an object is present. The effect of kinetics is further heightened when moveable objects have convexly curved bases.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117280699","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444607
Dhanannjay Deo, S. De
Interactive simulation of nonlinear deformable bodies with haptic feedback is particularly challenging as the corresponding coupled nonlinear equations must be solved at a high rate of 1 kHz. With increasing demand on the complexity of the models and scenarios that must be simulated to develop interactive applications such as surgical simulators, and given the current state of hardware, a naïve solution strategy based on iterative finite element algorithms is not feasible. However, much advantage may be gained if the deformation response of the computational models may be characterized a priori and a radial basis function neural network (RBFN) is trained based upon this data. Once trained, the RBFN may be used during real time computations to calculate deformation fields and reaction forces with minimal computational cost. However, traditional RBFNs have zeroth order polynomial accuracy, implying that they cannot recreate polynomial fields. Since the error in the RBFN approximation is governed by the highest order of the polynomial that the approximant can reproduce, we have developed and successfully tested a higher order polynomial reproducing RBFN (HOPR-RBFN) which, compared to traditional RBFN, reduces the approximation error significantly and allows much fewer neurons to be used for comparable accuracy. Results are provided for realistic surgical scenarios with hyperelastic (neo-Hookean) material models within a fully nonlinear large deformation simulation framework.
{"title":"A higher order polynomial reproducing radial basis function neural network (HOPR-RBFN) for real-time interactive simulations of nonlinear deformable bodies with haptic feedback","authors":"Dhanannjay Deo, S. De","doi":"10.1109/HAPTIC.2010.5444607","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444607","url":null,"abstract":"Interactive simulation of nonlinear deformable bodies with haptic feedback is particularly challenging as the corresponding coupled nonlinear equations must be solved at a high rate of 1 kHz. With increasing demand on the complexity of the models and scenarios that must be simulated to develop interactive applications such as surgical simulators, and given the current state of hardware, a naïve solution strategy based on iterative finite element algorithms is not feasible. However, much advantage may be gained if the deformation response of the computational models may be characterized a priori and a radial basis function neural network (RBFN) is trained based upon this data. Once trained, the RBFN may be used during real time computations to calculate deformation fields and reaction forces with minimal computational cost. However, traditional RBFNs have zeroth order polynomial accuracy, implying that they cannot recreate polynomial fields. Since the error in the RBFN approximation is governed by the highest order of the polynomial that the approximant can reproduce, we have developed and successfully tested a higher order polynomial reproducing RBFN (HOPR-RBFN) which, compared to traditional RBFN, reduces the approximation error significantly and allows much fewer neurons to be used for comparable accuracy. Results are provided for realistic surgical scenarios with hyperelastic (neo-Hookean) material models within a fully nonlinear large deformation simulation framework.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121970671","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444616
S. Ullah, P. Richard, S. Otmane, Mickael Naud, M. Mallem
In this paper we simulate the use of two string based parallel robots in cooperative manipulation task. Two users standing in front of a large screen operate each robot. We propose two haptic guide models, and investigate their effects on cooperation, co-presence and users performance. In addition we also examine the effect of object-based force feedback in cooperative work. Ten volunteer subjects had to cooperatively perform a peg-in-hole task. Results revealed that haptic guides have a significant effect on task execution. They not only increase users performance but also enhance the sense of co-presence and awareness. Our investigations will help in the development of VR systems for cooperative assembly, surgical training and rehabilitation.
{"title":"Haptic guides in cooperative virtual environments: Design and human performance evaluation","authors":"S. Ullah, P. Richard, S. Otmane, Mickael Naud, M. Mallem","doi":"10.1109/HAPTIC.2010.5444616","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444616","url":null,"abstract":"In this paper we simulate the use of two string based parallel robots in cooperative manipulation task. Two users standing in front of a large screen operate each robot. We propose two haptic guide models, and investigate their effects on cooperation, co-presence and users performance. In addition we also examine the effect of object-based force feedback in cooperative work. Ten volunteer subjects had to cooperatively perform a peg-in-hole task. Results revealed that haptic guides have a significant effect on task execution. They not only increase users performance but also enhance the sense of co-presence and awareness. Our investigations will help in the development of VR systems for cooperative assembly, surgical training and rehabilitation.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122488538","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444637
H. King, B. Hannaford, J. Kammerl, E. Steinbach
In telepresence and telemanipulation systems, multimodal data is exchanged over a network allowing humans to experience and to operate in remote or inaccessible environments. To operate over the global Internet and connect to multiple telepresence systems, a flexible framework for initiating, handling and terminating Internet-based telerobotic sessions becomes necessary. In this work, we explore the use of standard Internet session and transport protocols in the context of telerobotic applications. Session Initiation Protocol (SIP) is widely used to handle multimedia teleconference sessions with audio, video or text, and provides many services advantageous for establishing connections between heterogeneous haptic interfaces and telerobotic systems. We apply the session paradigm to the creation and negotiation of haptic telepresence sessions and propose to extend this framework to work with the haptic modality. The notion of a “haptic codec” is introduced for transforming haptic data into a common format, applying data reduction or compression techniques and implementing teleoperation control architectures. The use of the Real-Time Transport Protocol (RTP) is explored for transport of teleoperation data. Finally, a prototype and demonstrator system is presented for evaluation of the proposed framework.
{"title":"Establishing multimodal telepresence sessions using the Session Initiation Protocol (SIP) and advanced haptic codecs","authors":"H. King, B. Hannaford, J. Kammerl, E. Steinbach","doi":"10.1109/HAPTIC.2010.5444637","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444637","url":null,"abstract":"In telepresence and telemanipulation systems, multimodal data is exchanged over a network allowing humans to experience and to operate in remote or inaccessible environments. To operate over the global Internet and connect to multiple telepresence systems, a flexible framework for initiating, handling and terminating Internet-based telerobotic sessions becomes necessary. In this work, we explore the use of standard Internet session and transport protocols in the context of telerobotic applications. Session Initiation Protocol (SIP) is widely used to handle multimedia teleconference sessions with audio, video or text, and provides many services advantageous for establishing connections between heterogeneous haptic interfaces and telerobotic systems. We apply the session paradigm to the creation and negotiation of haptic telepresence sessions and propose to extend this framework to work with the haptic modality. The notion of a “haptic codec” is introduced for transforming haptic data into a common format, applying data reduction or compression techniques and implementing teleoperation control architectures. The use of the Real-Time Transport Protocol (RTP) is explored for transport of teleoperation data. Finally, a prototype and demonstrator system is presented for evaluation of the proposed framework.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132381964","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-03-25DOI: 10.1109/HAPTIC.2010.5444661
Sina Niakosari, S. Sirouspour
Network-based collaborative virtual environments have attracted a great deal of interest in recent years. Stability and performance of such systems can significantly degrade due to the network delay, delay jitter and limited packet transmission rate. Building on our recent work in this area, we propose a systematic approach for designing distributed multi-user haptic simulation control systems to improve their stability and transparency. Three distributed two-user control schemes are presented and optimized for a given communication delay. In addition, an iterative procedure is developed for extending these methods to simulation environments involving more than two users by solving an optimization problem in each step. The effectiveness of the proposed methods are examined in two and three-user haptic simulations.
{"title":"An iterative approach to optimizing multi-user networked haptic simulations","authors":"Sina Niakosari, S. Sirouspour","doi":"10.1109/HAPTIC.2010.5444661","DOIUrl":"https://doi.org/10.1109/HAPTIC.2010.5444661","url":null,"abstract":"Network-based collaborative virtual environments have attracted a great deal of interest in recent years. Stability and performance of such systems can significantly degrade due to the network delay, delay jitter and limited packet transmission rate. Building on our recent work in this area, we propose a systematic approach for designing distributed multi-user haptic simulation control systems to improve their stability and transparency. Three distributed two-user control schemes are presented and optimized for a given communication delay. In addition, an iterative procedure is developed for extending these methods to simulation environments involving more than two users by solving an optimization problem in each step. The effectiveness of the proposed methods are examined in two and three-user haptic simulations.","PeriodicalId":239293,"journal":{"name":"2010 IEEE Haptics Symposium","volume":"616 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132316055","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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