Contact Elements Prediction Based Haptic Rendering Method for Collaborative Virtual Assembly System

Based on the collaborative virtual assembly system with haptic and force feedback, a contact elements prediction based haptic rendering method is proposed. This method is conducted at both server and client side. The server predicts the basic contact elements using haptic rendering model. At client side, according to the local proxy position and basic contact elements received from server side, the finial feedback force to be sent to PHANToM device is estimated under the invariability assumption of contact elements. This method can not only reduce the effects of both proxy position prediction error and network jitter, but also reduce the network transfer load greatly.