RESUMO
We have developed a novel volume-based haptic communication system. It allows participants at remote sites on a network to simultaneously interact with the same target object in virtual environments presented by multi-level computer performance systems. It does this by only exchanging a small set of manipulation parameters for the target object and an additional packet to synchronize the status of the binary tree and the deformation of the local region of the shared volume model. We first developed online-remesh volume models, which we call dynamic adaptive grids, to simulate deformable objects such as soft tissues at remote sites. Then, haptic sensation during interaction with the target object was achieved by rendering the reflection force from the object, which was simulated with the online-remesh volume model from the manipulation parameters and additional packets exchanged among all remote sites. We investigated the efficiency of our system via experiments at remote locations on a WAN between Tokyo, Osaka, and Kyoto.