TY - GEN
T1 - A Low Cognitive Load and Reduced Motion Sickness Inducing Zoom Method Based on Typical Gaze Movement for Master-Slave Teleoperation Systems with HMD
AU - Mizukoshi, Yuichi
AU - Sato, Ryuya
AU - Eto, Takahiro
AU - Kamezaki, Mitsuhiro
AU - Matsuzaka, Ayaka
AU - Yang, Liu
AU - Namiki, Akio
AU - Imai, Asaki
AU - Matsuzawa, Takashi
AU - Hashimoto, Kenji
AU - Takanishi, Atsuo
AU - Iwata, Hiroyasu
N1 - Funding Information:
This research was supported in part by the ImPACT Tough Robotics Challenge, and in part by the Research Institute for Science and Engineering, Waseda University.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/1
Y1 - 2020/1
N2 - Teleoperation of humanoid robots for disaster response tasks, controlled by a master-slave system using a head-mounted display, requires a detailed frame of view for precise operation. We previously investigated an automatic zoom method, and images zoomed when the robot arm entered the work area could improve teleoperation performance. However, automatic zooming failed to consider the operator's intentions, including zoom levels and timing, causing high mental workload and motion sickness for operators. Therefore, this study proposes a zoom method with a low mental workload and reduced level of motion sickness. Motion sickness is less likely to be induced under active conditions, wherein the operator can manually control the image. Moreover, upper limbs should not be used to operate the zoom feature because such use can disturb the master-slave operation. Furthermore, a zoom method should reflect the operator's intentions, including zoom levels and timing. Thus, we develop a zoom method based on head movement, which can be regarded as typical gaze movement. The results of experiments using a real robot system indicated that the proposed method could reduce the mental workload and work time without inducing motion sickness, compared with zoom operation using a foot pedal interface.
AB - Teleoperation of humanoid robots for disaster response tasks, controlled by a master-slave system using a head-mounted display, requires a detailed frame of view for precise operation. We previously investigated an automatic zoom method, and images zoomed when the robot arm entered the work area could improve teleoperation performance. However, automatic zooming failed to consider the operator's intentions, including zoom levels and timing, causing high mental workload and motion sickness for operators. Therefore, this study proposes a zoom method with a low mental workload and reduced level of motion sickness. Motion sickness is less likely to be induced under active conditions, wherein the operator can manually control the image. Moreover, upper limbs should not be used to operate the zoom feature because such use can disturb the master-slave operation. Furthermore, a zoom method should reflect the operator's intentions, including zoom levels and timing. Thus, we develop a zoom method based on head movement, which can be regarded as typical gaze movement. The results of experiments using a real robot system indicated that the proposed method could reduce the mental workload and work time without inducing motion sickness, compared with zoom operation using a foot pedal interface.
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U2 - 10.1109/SII46433.2020.9026260
DO - 10.1109/SII46433.2020.9026260
M3 - Conference contribution
AN - SCOPUS:85082574023
T3 - Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
SP - 28
EP - 33
BT - Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/SICE International Symposium on System Integration, SII 2020
Y2 - 12 January 2020 through 15 January 2020
ER -