A study on space interface for teleoperation system

Abstract

'Teleoperation' (or telerobotics) technology has been attracting much attention due to remarkable development of computer and communication technology and also to the advent of 'virtual reality'. However, it is still difficult to apply this technology to the tasks which need sophisticated human skills. And from the viewpoint of human factors there are also many problems to be solved in this research field. In this study we developed an experimental system, where a PUMA-type robot-arm system can be manipulated using a dataglove system. The aim of the experimental system is to assemble/disassemble machines for their maintenance. In this paper, we describe the algorithms of recognizing hand-movement for those tasks and the way to evaluate the performance of robot-arm manipulation system. In the end of this paper, some features of the system which we are now developing are also explained.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>