題目

高臨場感遠隔テレイグジスタンスロボットシステムの開発 (Telexistence robotic system with high level of presence in the remote environment)

概要

We developed a new telexistence robotic system which consists of a mobile robot and a wearable master robot. The elaborated algorithms allow the robot to precisely recognize the shape, boundaries, movement direction, speed, and distance to the obstacle by means of the laser range finders. The designed tactile belt interface receives the detected information and maps it through the vibrotactile patterns. We designed the patterns in such a way that they convey the obstacle parameters in a very intuitive, robust, and unobtrusive manner. The robot movement direction and speed are governed by the tilt of the user’s torso. The results of user study revealed that the developed telexistence robotic system has a very positive effect on robot navigation performance in terms of naturalness of interaction with the Virtual Environment (VE), naturalness of mechanism of robot control, active exploration of the VE through touch, sense of moving in the VE, and safe navigation.

著者

ティエティエルコブ ズミトリー (豊橋技術科学大学エレクトロニクス先端融合研究所) , 杉山 淳一 (豊橋技術科学大学) , 三浦 純 (豊橋技術科学大学)