Tele-Handshake through the Internet

As a new application of teleoperation, this paper presents human-human interaction through the Internet. By integrating the concept of teleoperation with the Internet, we have developed the Tele-Handshaking System (THS) which allows two persons in two different locations to physically communicate with each other by shaking hands through the system and receive tactile feedback. Data between both locations is transmitted through the Internet by using TCP/IP protocol. A design to reduce the effect of variable time delay in data transmission through the Internet is shown. In order to physically couple two operators with each other, some required ideal responses for THS with time delay are defined. To achieve these ideal responses, we propose a new control approach, virtual impedance with position error correction (VIPEC), which is based on the compliant motion technique. Achievement of the ideal responses on THS can help two operators to interact with each other.