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This chapter introduces collaborative manipulation of shared object through network. This system is designed for supporting collaborative interaction in virtual environment, so that people in different places can work on one object together concurrently through the network. Here, the haptic device is used for force-feedback to each user during the collaborative manipulation of shared object. Moreover, the object manipulation is occurred in physics-based virtual environment so the physics laws influence our collaborative manipulation algorithm. As a game-like application, users construct a virtual dollhouse together using virtual building blocks in virtual environment. While users move one sharedobject (building block) to desired direction together, the haptic devices are used for applying each user’s force and direction. The basic collaboration algorithm on shared object and its system implementation are described. The performance evaluations of the implemented system are provided under several conditions. The system performance comparison with the case of non-haptic device collaboration shows the effect of haptic device on collaborative object manipulation.

Collaborative Tele-Haptic Application and Its Experiments