Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
We have proposed a virtual direct operation interface for teleoperation of mobile manipulators. In this study, we conducted an experiment for four subjects to teleoperate a robot and perform a task. As a result, when the VIVE controller is used for the proposed interface, the achievement time of the manipulation task is reduced. Although the physical demand to the operator is increased, the mental demand can be reduced in the case of the VIVE controller compared with the game pad. However, in the direct operation using the gripping sense presentation device, not only the working time but also the mental and physical demands were increased compared with the VIVE controller for all tasks. We found that it is necessary to change the input and haptic method and install new interaction functions for the proposed interface.
