Design method of multilateral tele-control for multi-client and multi-coupled physical model server

Social communication based on visual and auditory has enabled communication. However, Internet communication based on haptic interface has not generally spread yet. This study will achieve that tens of thousands of people share the sense of force and enjoy the Internet games such as tug-of-war by stabilizing the whole system in spite of Internet communication delay. Our proposed method consists of the phase control filter and phase compensation filter. First, phase characteristics of the scattering matrix is derived, and it is proved that the combination of phase control filter and scattering matrix are passive. Second, the combination of phase compensator and mechanical model in the emulator are also passive. Thus, the closed loop system being non-passive system, in which input/output are force/position, can be stabilized. Finally, validation for our proposed system is demonstrated though some simulation.