Illusory Control:人の意思と時間を錯覚により制御する遠隔操作手法

抄録

Shared control, in which teleoperation and autonomous control are mixed to move the robot, is expected to improve the efficiency of the user's teleoperation operation. However, there is a problem that the user's acceptability decreases due to the conflict of intention between teleoperation and autonomous control. In this paper, we address this problem by providing an illusion to humans. We proposed a teleoperation method called "Illusory Control" that can achieve both mobility efficiency and user acceptance by implementing a cyber-physical system that controls a robot in a real space through robot operations in a virtual space. Illusory Control has two functions: one is "Illusion of Intension", which gives the illusion that the robot is operating according to human intention, and the other is "Illusion of Time", which gives the illusion of time to fill the gap by changing human behavior when the positions of the robot in the virtual space and the robot in the real space diverge.