Error Control Based on Importance in a Remote Haptic Calligraphy System

In this paper, we deal with a remote haptic calligraphy system in which a teacher instructs multiple students at remote location show to write characters while conveying the sense of force by multicast communications. We also propose an error control scheme which transmits important media units (MUs) multiple times which include the positional information in the case where the speed of the teacher´s brush stroke is faster than a threshold value by adding the MUs to the succeeding MUs as well as transmitting them independently. By experiment, we demonstrate that the proposed scheme can keep the media output quality high at the expense of slight increase of the traffic amount.