直感的な随意操作が可能な【第三の腕】に関する研究

―第四報：目標物指示のための顔面ベクトル取得アイグラスの開発―

抄録

The purpose of this study was to develop an additional robotic limb called “Third Arm” with which it is possible to perform two concurrent tasks. In this paper, we propose a control method based on the “Face Vector,” which selects a target object using face direction as an interface for Third Arm. There are two requirements (to acquire the Face Vector and to fix the system to the head without interfering with the field of view) of the interface. For the first requirement, it was possible to acquire the Face Vector using an IMU sensor and a distance-measuring laser sensor (100 Hz). For the second requirement, by using eyeglasses, we solved this problem without interfering with the field of view. We verified the accuracy of the interface and found an average target error of 1.83 cm. The results suggest that the distance-measuring laser diffused on the curved surface.