Design method for multilateral tele-control to realize shared haptic mouse

In this study, we aim to develop the system that many people can share a sense of force through the Internet, using a force-position multilateral tele-control system. We apply scattering matrix and phase control filter in order to stabilize the multilateral tele-control system with a new knowledge of scattering matrix. Additionally, we derive a design method for system “shared haptic mouse”. The unique characteristic of our design method is that stabilization is achieved by focusing on phase. In our system, topology takes the form of a commonly used star-shaped client/server system network topology and is configured such that the success or failure of specific connections between the client and server do not affect the entire system. We have conducted experiments between Seoul, Florida, and Toyohashi using three haptic devices to verify the usefulness of this system, and successfully position was controlled by the force applied to the haptic device. Through experimentation, we verify that the shared haptic sensing between three clients is confirmed to have been realized in a multilateral system that included a communication delay.