Cooperative Work in Shared Haptic Environment

力感在虚拟物体的操纵中起着重要的作用。触觉界面是一种产生皮肤和肌肉感觉的反馈装置，包括触觉、重量和刚性。多年来，我们一直致力于虚拟环境中触觉界面的研究。我们开发了各种力反馈装置及其应用，在大多数触觉界面中，虚拟环境软件与力显示控制程序紧密相连。这一问题给触觉虚拟环境的进一步应用发展带来了隐患。我们一直在开发模块化软件工具，以支持各种力显示及其应用。我们最新的系统由七个模块组成：力显示设备驱动，触觉渲染器，模型管理器，原始管理器，自主引擎，视觉显示管理器和通信接口，系统被称为lhx现有的通信媒体只支持视觉和听觉信息。我们尝试用触觉信息作为交流的工具。我们利用LHX的网络功能连接同一虚拟环境中的两个力显示器。开发了基于TCP/IP的通信软件。系统的两个用户同时感受到反作用力。他们可以合作操作虚拟对象。一个用户可以抓住另一个用户的虚拟手，并感受到来自另一个用户的力。这个功能有利于培训师与学员之间的互动。通过手术模拟器验证了该系统的有效性。

Force sensation plays an important role in the manipulation of virtual objects. Haptic interface is a feedback device that generates skin and muscle sensation, including sense of touch, weight and rigidity. We have been working in research on haptic interface in virtual environments for a number of years. We have developed various force feedback devices and its applications, In most cases of haptic interface, software of virtual environment is tightly connected to control program of force displays. This problem is a hazard for development of further application of haptic virtual environment. We have been developing modular software tools to support various force displays and their applications. Our latest system is composed of seven modules : device driver of force display, haptic renderer, model manager, primitive manager, autonomy engine, visual display manager and communication interface, The system is called LHXExisting communication media supports only visual and auditory information. We have tried to use haptic information as a tool for communication. We used network capability of LHX to connect two force displays in the same virtual environment. TCP/IP based communication software is developed. The two users of our system feel reaction force simultaneously. They can cooperatively manipulate virtual objects. One user can grasp the other users virtual hand and they feel force applied from the other user. This function is beneficial for trainer-trainee interaction. Effectiveness of the system is exemplified by surgical simulator.