Interactivity improvement of group synchronization control in collaborative haptic play with building blocks

This paper proposes a group synchronization control scheme with prediction in collaborative haptic play with building blocks. The scheme adjusts the output timing among multiple terminals and keeps the interactivity high. It outputs position information by predicting a future position later than the last-received position information by a fixed amount of time. It also advances the output time of position information at each local terminal by the same amount of time. By experiment, we subjectively assess the output quality of haptic media so as to demonstrate the effectiveness of the scheme.