A Low Cognitive Load and Reduced Motion Sickness Inducing Zoom Method Based on Typical Gaze Movement for Master-Slave Teleoperation Systems with HMD

Yuichi Mizukoshi, Ryuya Sato, Takahiro Eto, Mitsuhiro Kamezaki, Ayaka Matsuzaka, Liu Yang, Akio Namiki, Asaki Imai, Takashi Matsuzawa, Kenji Hashimoto, Atsuo Takanishi, Hiroyasu Iwata

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ28-33
ページ数6
ISBN(電子版)9781728166674
DOI
出版ステータスPublished - 2020 1
イベント2020 IEEE/SICE International Symposium on System Integration, SII 2020 - Honolulu, United States
継続期間: 2020 1 122020 1 15

出版物シリーズ

名前Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020

Conference

Conference2020 IEEE/SICE International Symposium on System Integration, SII 2020
国/地域United States
CityHonolulu
Period20/1/1220/1/15

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • 生体医工学
  • 制御およびシステム工学
  • 安全性、リスク、信頼性、品質管理
  • 制御と最適化
  • 器械工学

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