Implementation of remote collaboration system by integrating visual and haptic sensations in immersive virtual environment

在本研究中，我们旨在通过将触觉融入到基于IPT的共享虚拟环境中来实现真实的协作环境，研究主题之一是评估将触觉融入到交流中的效果。在我们的研究中，我们定性地阐明了交际群体中的力量感可以提高某种任务的执行效率。另一个研究课题是设计触觉控制系统，实现触觉信息的共享。众所周知，通信线路的延迟会严重影响触觉通信的性能。在我们的研究中，我们提出了“触觉服务器”的概念，它管理通信站点的触觉模型以保持一致性。通过实验验证了该方法的有效性。此外，我们还研究了我们的触觉通信系统的一些应用。其中一个应用程序与制造业有关，我们在其中组装发动机。另一个应用与研究合作有关。通过研究，我们证实，通过提供触觉通信手段，远程地点之间的协作在质量上得到了改善。在我们未来的工作中，我们将研究实现多模态共享虚拟环境，将嗅觉和味觉结合起来。

In this research, we aimed at realizing realistic collaboration environment by integrating haptics into IPT based shared virtual environment One of topics of study is to evaluate the effect of integrating haptic sensation into communication. In our study, we qualitatively clarified that the efficiency in performing some kind of task is improved by sensation of force among communication group. Another topic of study is to design haptic control system for sharing haptic information. It is well known that delay of communication line cause serious effect on the performance of haptic communication. In our study we proposed the idea of 'Haptic Server' that manages haptic models of communication sites to keep consistency. Through experiments we proved the effect of the proposed approach. Moreover, we investigated some applications of our haptic communication system. One application is related to manufacturing, where we performed assembling an engine. Another application is related to research collaboration. Through the research, we confirmed that collaborations between remote places are qualitatively improved by providing means of haptic communication. In our future works, we are going to investigate implementing multi-modal shared virtual environment that integrates senses of smell and taste.