抄録
A gamepad and images from a camera mounted on the robot is used in the teleoperation interface for a rescue robot in general. However, the teleoperation is difficult for inexperienced users because the relationship between the user input and resulting robot motion is not always intuitive. To solve this problem, we propose an interface that mixes and presents both visual and haptic sense. In the previous research, we developed a visual-haptic fusion system for teleoperation of a tracked vehicle. In this study, we adapt the system to the operation of a multi-DOF robot. Specifically, the shielding representation for the improvement of the visibility was introduced. In addition, we introduced the force feedback to the fingertip of the operator for the improvement of the operability of flipper arms. We verify the effectiveness of the proposed system by comparison with the operation by using a game pad.
