Interactive Haptic Transmission for Remote Control Systems

In this paper, we propose a remote control system which controls a haptic interface device with another remote haptic interface device. Haptic feeling can be transmitted by the system. Applications of the system are a remote calligraphy system, a remote drawing instruction system, a remote medical operation system, and so on. The paper deals with the remote drawing instruction system by which an instructor trains a learner how to draw pictures or figures while conveying the sense of force through the Internet. In order to clarify what kinds of control are needed in the system, we examine the influences of network delay, delay jitter and packet loss on the output quality of haptic media by subjective assessment of drawing figures