マスタ・スレーブシステムにおける提示映像スケーリングの有効性検証

抄録

In robot teleoperation using a master-slave system, we have proposed a scale-gain adjustment system in order to increase the time efficiency and endurance capacity. Here, the presentation of images to an operator is also important for accurately recognizing environmental information. As a preliminary study of evaluating image scaling, we investigated the effectiveness of image scaling methods. We developed several image scaling systems by combining scaling factor, scaling method (manual/automatic), and changing method (continuous/discontinuous), considering proprioception, and visual momentum. Experimental results revealed that a system with manual and continuous change was better for the number of successes than others.