遅延を伴う移動ロボット遠隔操作時における血圧脈波によるストレス評価

抄録

This paper reports on quantitative assessment of human stress in tele-operating a mobile robot. In operating the mobile robot remotely, the operator acquired vision from a camera on the mobile robot, and blood pressure pulse wave was measured during operation constantly. LF/HF, which is one of the indexes for quantitative stress assessment, was used for this research. In calculating LF/HF, Fourier transformed graph of PPI (peak-to-peak interval) is needed. PPI graph is acquired by plotting the period of each two peaks of blood pressure pulse wave. Stress assessment was conducted in 3 situations, sitting position, tele-operation of the mobile robot without delay, and tele-operation of the mobile robot with delay. In comparison to sitting position, LF/HF increased by 114% on average in tele-operation without delay, and 303% on average in tele-operation with delay. Therefore, we could assess stress quantitatively in operating a mobile robot remotely using blood pressure pulse wave.