Three dimensional visual-auditory-tactile feedback for teleoperataion

2015 Fiscal Year Final Research Report

• Project/Area Number: 24300086
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Sensitivity informatics/Soft computing
• Research Institution: Keio University
• Principal Investigator: Yakoh Takahiro 慶應義塾大学, 理工学部, 准教授 (20286652)
• Project Period (FY): 2012-04-01 – 2016-03-31
• Keywords: 遠隔ロボット操作 / バイラテラル制御 / 視聴触覚伝送 / 実時間通信 / ヒューマンインタフェース

Outline of Final Research Achievements

An experimental system, which can represent 3D visual-auditory-haptic information of its slave side to its master side, was constructed. The visual information captured by a stereo camera was displayed on a 3D monitor, the artificially-generated auditory information based on a target information measured by a visual recognition system was played from a 4-channel speaker, and the haptic information was transmitted via a bilateral controller which established 2-DoF position tracking and action-reaction law between a plate robot and a joy-stick. Task efficiency and operationality were evaluated through remote-operation tests conducted by human examinees under various conditions of delay and generated audio. The results verify that depth, velocity, or acceleration information is worth representing as audio information especially under communication delay.

Free Research Field

実時間通信