Authors

Ramtin Rakhsha, Daniela Constantinescu, Yang Shi

Abstract

For distributed haptic cooperation systems, this paper develops a framework for virtual environments such that the design of the coordinating controllers is decoupled from the network topology and the communication issues. A passive paradigm is introduced for shared virtual object (SVO) with n distributed copies on communications with unreliable data transmission. The n -port passivity of the SVO system is proved and followed by the steady-state analysis. Three-user haptic cooperation experiments validate the theoretical findings.

Keywords

Haptic cooperation; Port-Hamiltonian systems; Shared virtual object; Wave-based communication; port passivity

Citation

  • Journal: Autonomous Robots
  • Year: 2019
  • Volume: 43
  • Issue: 6
  • Pages: 1489–1504
  • Publisher: Springer Science and Business Media LLC
  • DOI: 10.1007/s10514-018-9809-3

BibTeX

@article{Rakhsha_2018,
  title={{Passive shared virtual environment for haptic cooperation}},
  volume={43},
  ISSN={1573-7527},
  DOI={10.1007/s10514-018-9809-3},
  number={6},
  journal={Autonomous Robots},
  publisher={Springer Science and Business Media LLC},
  author={Rakhsha, Ramtin and Constantinescu, Daniela and Shi, Yang},
  year={2018},
  pages={1489--1504}
}

Download the bib file

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