Group Synchronization Control in a Remote Haptic Drawing System

In this paper, we enhance group (or inter-destination) synchronization control, which adjusts the output timing among multiple destinations, for a remote drawing system using haptic media. Under the control, an instructor and a learner can draw figures while watching the identical virtual space. By subjective assessment, we demonstrate that Mean Opinion Score (MOS) of the instructor can be improved greatly at the expense of slight deterioration in MOS of the learner. Also, we show that MOS of the learner can be improved by reducing the spring constant used in calculating the reaction force.