建設ロボットの遠隔操縦支援のための高周波振動変調による接触情報の提示

抄録

Contact information is necessary for an efficient remote operation of construction robots. We investigate display methods to deliver the contact information of the shovel by modulating high-frequency vibratory signals measured on the robot body. The proposed methods are based on an amplitude modulation (AM) with the envelope of the original vibratory signals measured because the envelopes could contain the information of contact characteristics. We also focus on the carrier waveforms of the AM to fit the human sensitive frequency range. We compared four modulation types, which are (a) the original signal without noise, (b) the envelope of the original signal, (c) AM with a constant frequency in a sensitive range, and (d) AM with a carrier waveform by the frequency-shift from the original signal. The results showed that the method (d) improved human discriminability.