Supporting haptic collaboration across networked peers with real time force feedback in distributed virtual environments

In this paper, we design and implement a new peer- to-peer network architecture for real time tele-haptic operation in distributed virtual environments (DVEs). We have also developed a novel force collaboration and position synchronization algorithm in order to support networked haptic interactions. In order to interact successfully in DVE with haptic devices, haptic applications require a stringent Quality of Service (QoS) service from the network. Impairments such as time delay, jitter and packet loss each have different (and severe) impacts on remote haptic collaborations. The new peer-to-peer architecture is able to support haptic interactions across time-varying networked peers. Experiments have been conducted to investigate the levels of QoS required for networked haptic collaboration. We also examine whether existing compensation algorithms can be used to enhance the performance of the system. The performance of two algorithms that compensate for delay (TiDeCtrade), and position (dead reckoning) are examined. Findings of the study, together with a set of network QoS parameter values obtained for supporting haptic collaboration over IP networks, are presented.