Shared Haptics Working Group (SHWinG)

The Shared Haptics Working Group (SHWinG) is a group of haptics, simulation, and teleoperation people interested in streaming and distributed haptic rendering over networks.

SHWinGers:

Remis Balaniuk (Dept of CS, Stanford)	Craig Latimer (Dept of CS, MIT)
Kevin Montgomery ( Biocomp Center, Stanford)	Gunter Niemeyer ( Intuitive Surgical )
Diego Ruspini (Dept of CS, Stanford)	Ken Salisbury (Depts of CS and Med, Stanford)
Nicolas Turro (Dept of CS, Stanford)

To email all the SWinGers, click here.

Things I'm gonna put more of here real soon:

More background info
List of recommended readings (Gunter's paper, Diego's thesis, etc), refs
Notes from our meetings
Networking protocol information
Source code for hapticserver:
Reference implementation is for the Immersion 3GM and/or LapIE.
Version for Sensable PHANToM by Cynthia Bruyns
- phantomserver.zip
- phantomserver.exe
Images/movies of system:
- LAN-based haptics @ 100Mbps- cutting
- LAN-based haptics @ 100Mbps- grasping
Hapticservers on the net (PLEASE talk to the person first!!)

Biocomp Center: haptics1.stanford.edu, haptics2.stanford.edu

SUMMIT: haptics3.stanford.edu

UWisconson-Lacrosse: (Steve Senger) joints.visu.uwlax.edu

Until I get a chance to write up things better, here's a list of issues that we talked about at the last meeting:

Streaming (forces, wave vars) versus distributed (geometry)
UDP/stateless implications
OutOfBand signalling- separate channel for stateful info?
multicasting
streaming video
conformance classes
protocol levels
implementation details: port #, packet lengths, timeouts
teleoperation support (symmetry)
upshift/downshift of protocol classes
initial handshaking/security
hardware id passed on handshake
multiple grippers
who connects to who? (connection initiation)
code sharing

Kevin Montgomery

Biocomp Center:	haptics1.stanford.edu, haptics2.stanford.edu
SUMMIT:	haptics3.stanford.edu
UWisconson-Lacrosse: (Steve Senger)	joints.visu.uwlax.edu