ロボットの遠隔操作におけるオノマトペを利用した力覚視覚化インターフェース

抄録

In this study, we introduce a haptic visualization interface for a teleoperated daily life support robot with the aim of its improved operability. We propose an approach to providing a sense of haptic presence for a user in robot teleoperation using onomatopoeia, a word imitating the sound it represents. An appropriate choice of onomatopoeia is presented on a head-mounted display according to the contact force information measured at the wrist of the robot in combination with the velocity of the hand. We present experimental results to demonstrate the effectiveness of the proposed approach in recognizing the stiffness of an occluded environment in robot teleoperation in comparison to other modalities such as vibration feedback and contact force visualization with a bar graph.