A cooperative shared haptic virtual environment, where the users can kinesthetically interact and simultaneously feel each other, is beneficial for many VR simulations. We have implemented a tele-handshake system that enables the participants to shake hands over a network and feel each other’s pushing concurrently. A client-server architecture has been used with a specific implementation to meet the requirements of the haptic device. The users were able to feel each other simultaneously and shake their hands in an intuitive way. An objective evaluation based on force feedback was conducted. The results showed that the force feeling induced at the remote site was very close to that felt at the remote site. Also, a subjective evaluation based on a rating questionnaire is described. The results prove that the feeling was instant without any perceptible delay.
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