テレオペレーションにおける拘東状態の身体性変化

抄録

Research on robotic teleoperation has acquired popularity among robotic researchers around the world. Although, it is reported that using haptic device to provide force information to users improves operability of force constrained tasks, its high cost is considered to be not suitable for ordinary users doing daily manipulation. Our research aiming at developing an intuitive teleoperation interface without actually using force feedback. In order to examine how operators’ sense of embodiment for the teleoperation system changes with or without force feedback, we developed a bilateral teleoperation system with the function to select whether to display the force, and performed a basic experiment. As a result, it is confirmed that the sense of embodiment is weakened during the manipulation without force feedback.