Paper Info
Title
Experimental comparison of internet haptic collaboration with time-delay compensation techniques
Abstract
In this paper we analyzed the performance of a peer-to-peer haptic collaboration system with two users jointly manipulating an object with mass and damping properties. We used objective measures to compare tuned PD, wave variables and time domain passivity controllers subject to real time delays from the Internet through similar experimental parameters. We set up a packet reflector network at our collaborators' servers in order to able to perform the experiment with subjects located in the same laboratory. Subjects were blinded to which controller was used and received them in a randomized sequence. UDP data packets were used for haptic data communication and the packet transmission rate was maintained at 1000 Hz. Our experimental results show that the tuned PD controller gave the best performance in terms of position error and wave variables in terms of force.
Year
DOI
Venue
2008
10.1109/ROBOT.2008.4543210
Pasadena, CA
Keywords
Field
DocType
Internet,PD control,groupware,network servers,peer-to-peer computing,transport protocols,Internet haptic collaboration,UDP data packets,bandwidth 1000 Hz,collaborator servers,damping properties,haptic data communication,mass properties,packet reflector network,packet transmission rate,peer-to-peer haptic collaboration system,randomized sequence,time domain passivity controllers,time-delay compensation,tuned PD controller
Time domain,Passivity,Control theory,PID controller,Simulation,Computer science,Network packet,Server,Real-time computing,Control engineering,Haptic technology,The Internet
Conference
Volume
Issue
ISSN
2008
1
1050-4729 E-ISBN : 978-1-4244-1647-9
ISBN
Citations 
PageRank 
978-1-4244-1647-9
14
0.80
References 
Authors
16
2
Name
Order
Citations
PageRank
Ganesh Sankaranarayanan117524.85
Blake Hannaford22527516.26