基于客户端-服务器的共享触觉虚拟环境中通信延迟的补偿

IF 1.9 4区 计算机科学 Q3 COMPUTER SCIENCE, SOFTWARE ENGINEERING ACM Transactions on Applied Perception Pub Date : 2015-12-10 DOI:10.1145/2835176
Clemens Schuwerk, Xiao Xu, R. Chaudhari, E. Steinbach
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引用次数: 10

摘要

共享的触觉虚拟环境可以使用客户机-服务器架构来实现。在此体系结构中,每个客户端维护虚拟环境(VE)的本地副本。在服务器上运行的集中物理模拟计算基于从客户端接收到的触觉设备位置信息的对象状态。对象状态被发送回客户端以更新VE的本地副本,这些副本用于通过触觉设备向用户显示交互力。通信延迟导致对象状态更新延迟,并增加在客户端呈现的力反馈。在本文中,我们分析了通信延迟对客户端与刚性对象的协作多用户交互的渲染力大小的影响。分析给出了可容忍通信延迟的准则。如果超过这个延迟,增加的力的大小在触觉上是可感知的。我们提出了一种自适应力渲染方案来补偿这种影响,该方案动态地改变了在客户端力渲染中使用的刚度。我们的实验结果,包括主观用户研究,验证了分析和所提出的方案的适用性,以补偿多用户SHVE中时变通信延迟的影响。
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Compensating the Effect of Communication Delay in Client-Server--Based Shared Haptic Virtual Environments
Shared haptic virtual environments can be realized using a client-server architecture. In this architecture, each client maintains a local copy of the virtual environment (VE). A centralized physics simulation running on a server calculates the object states based on haptic device position information received from the clients. The object states are sent back to the clients to update the local copies of the VE, which are used to render interaction forces displayed to the user through a haptic device. Communication delay leads to delayed object state updates and increased force feedback rendered at the clients. In this article, we analyze the effect of communication delay on the magnitude of the rendered forces at the clients for cooperative multi-user interactions with rigid objects. The analysis reveals guidelines on the tolerable communication delay. If this delay is exceeded, the increased force magnitude becomes haptically perceivable. We propose an adaptive force rendering scheme to compensate for this effect, which dynamically changes the stiffness used in the force rendering at the clients. Our experimental results, including a subjective user study, verify the applicability of the analysis and the proposed scheme to compensate the effect of time-varying communication delay in a multi-user SHVE.
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来源期刊
ACM Transactions on Applied Perception
ACM Transactions on Applied Perception 工程技术-计算机:软件工程
CiteScore
3.70
自引率
0.00%
发文量
22
审稿时长
12 months
期刊介绍: ACM Transactions on Applied Perception (TAP) aims to strengthen the synergy between computer science and psychology/perception by publishing top quality papers that help to unify research in these fields. The journal publishes inter-disciplinary research of significant and lasting value in any topic area that spans both Computer Science and Perceptual Psychology. All papers must incorporate both perceptual and computer science components.
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