Rigid-body Collaborative Manipulation among Remote Users with Wearable Cutaneous Haptic Interfaces

We present a novel system architecture and its constituent components for multiuser haptic interaction, where geographically distributed multiple users collaboratively manipulate a shared virtual rigidbody evolving in SE(3). Wearable Cutaneous Haptic Interface (WCHI) and passivity-based real-time simulation and consensus control are employed for dexterous hand motion tracking with fingertip cutaneous haptic feedback and stable shared rigid-body manipulation on partiallyconnected imperfect communication network. Experiments of two users cooperatively handling a virtual rigid bodies are performed to validate the feasibility of the proposed system architecture.