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Bilateral Teleoperation System with Extension of Information Based on Visual Information

  • MATSUNAGA Takuya
    (地独)神奈川県立産業技術総合研究所 慶應義塾大学ハプティクス研究センター
  • SHIMONO Tomoyuki
    慶應義塾大学ハプティクス研究センター (地独)神奈川県立産業技術総合研究所 横浜国立大学
  • OHNISHI Kouhei
    (地独)神奈川県立産業技術総合研究所 慶應義塾大学ハプティクス研究センター

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Other Title
  • 画像情報に基づく情報拡張機能を有するバイラテラル遠隔制御システム

Abstract

<p>Master-slave teleoperation robots are useful for tasks that require human judgments and skills. Haptic sensation can be transmitted between a master and a slave by implementing bilateral control. Besides, visual information of the slave side that cannot be directly seen from the master side is presented by devices such as cameras, endoscopes, and displays. Therefore, advanced support of the teleoperation robots for operators can be expected by utilizing extended visual and haptic information. In this paper, a master-slave teleoperation system with ability to extend information transmitted to operators is proposed. The teleoperation system consists of one degree of freedom master-slave system implementing bilateral control based on robust acceleration control and an image processing system. To support operators, visual and haptic augmented reality is generated by image processing, micro-macro bilateral control, and compliance control. In addition, a design method of position and force scaling for micro-macro bilateral control according to magnification ratio of image is presented. The utility of the proposed bilateral teleoperation system is verified by experiments.</p>

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