複数の把持機構を有する移動型アシストロボットのMRを使った把持操作

抄録

Elderly and people with disabilities are often unable to get packages or small items because their activities are restricted at a separated place. Welfare robots that support human have been proposed to deal with such problems. Using mixed reality (MR) which can intuitively support users, the item and its surrounding are measured from the user’s point of view. Users can give a pick-up command to a welfare robot intuitively. In this research, we propose an intuitive gripping operation interface for a welfare robot with multiple gripping mechanisms using an HMD. The feature of this system is to come close to the item avoiding the obstacles, and change in perspective from the user’s visual range to robot hand camera. The movement of viewpoint supports the gripping operation of users. In the experiments, the ease of the operation was evaluated by NASA-TLX.