NDLI: Implementation issues for bilateral tele-mentoring applications

Content Provider	IEEE Xplore Digital Library
Author	Wang, D. Liya Ni Rossi, M. Tuer, K.
Copyright Year	2004
Description	Author affiliation: Handshake VR Inc., Kitchener, Ont., Canada (Wang, D.; Liya Ni; Rossi, M.; Tuer, K.)
Abstract	Recent advances in the area of tele-haptics - the ability to transmit the sense of touch over communications channels - has enabled the implementation of tele-mentoring of tasks where a remote expert user guides a local student by literally holding his/her hand via a network connection. A demonstration of tele-haptics was successfully conducted between Geneva and Ottawa in October, 2003 using a mannequin in lieu of a virtual environment for a medical training simulation. In this paper, the results of that demonstration are extended to include a virtual environment. The task is that of guiding a user through a haptic simulation of a bifurcation of an artery in a medical training simulator. Two commercial six degree of freedom haptic devices (three degrees actuated) are employed in this experimental setup. It is demonstrated that, in the presence of time delays, this simple task is rendered unusable due to the appearance of instability. A time-delay compensation technique is used to restore stability. Two implementation issues have been found to greatly impact both stability and performance. The first issue is that of the sampling period used by the haptic devices at both the local and remote locations. The second is that of slight differences in the sampling times of the controllers at both local and remote haptic devices, which ultimately impacts the synchronization of the controllers at the two locations. The impact of these two implementation issues will be studied for this particular application through experimental verification.
Starting Page	75
Ending Page	79
File Size	299515
Page Count	5
File Format	PDF
ISBN	0780388178
DOI	10.1109/HAVE.2004.1391885
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-10-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Virtual environment Medical simulation Delay Virtual reality Sampling methods Robust stability Robots Employee welfare Bifurcation
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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