1P1-U02 Evaluation of Blind Robot Manipulation Using Vibratory Haptic Display and Two-joint Robot Arm

Abstract

In robotics applications where a system is manipulated by a user, such as by teleoperation, conventional approaches often require the user to have visual information about the state of the robots. However, there are numerous applications in which visual information is difficult or impossible to obtain. Therefore, we developed a feedback display utilizing voice-coil-type tactors in order to facilitate manipulation of a robotic system without the aid of conventional information displays of the robot's state such as video or sensor values. In our previous work, we have presented the development of our prototype and its evaluation in simulation environment. This paper describes the results of our experiments using a two-link robot arm proportional to an average human's arm and the evaluation of the state recognition via the vibration of our device.