An Adaptive Control Scheme of Reaction Force in Distributed Virtual Environments with Haptic Media

摘要

In this report, we propose an adaptive control scheme of reaction force presented to each user in dis-tributed virtual environments where we manipulate objects by using force feedback devices. The proposed scheme dynamically adjusts a modulus (the elastic modulus of a spring-damper model) which is used to calculate the re-action force according to the network delay. The scheme also controls the force against each object as well as the reaction force. By experiment, we evaluate the output quality of haptic media and demonstrate the effectiveness of the scheme.