力覚提示機能を有する遠隔操作建設ロボットシステムの操作性評価

(仮想空間を用いた操作システムに対する力覚提示機能の有用性)

抄録

The purpose of this study is to evaluate an operation system with virtual reality that is built in a virtual environment system in computer using computer graphics, and a control method of feedback in a master-slave system previously proposed by our Lab, by not only behavioral measures but also subjective measures and physiological measures. This study deals with a master-slave system for a tele-operated construction robot. The master in this system corresponds to two joysticks, which are used to operate the object from a remote location, and the slave corresponds to the construction robot with four degrees of freedom consisting of a fork glove, swing, boom and arm. In this study, the authors evaluated operability when the control method was adapted to an actual task that included transportation and piling up blocks using concrete block, based on behavioral measures (work efficiency and indexes expressing the danger level of an operation), subjective measure (measurement of mental strain using NASA-TLX), and physiological measure (measurement of physiology strain using heart rate variability). As a result, we verified that using the control method in this system could contribute to improving efficiency and safety in tele-operation work, and alleviate the operator’s mental strain.