Integration of PC-based 3D immersion technology for bio-mimetic study of human interactive robotics

Abstract

Two novel immersion type experimental platforms integrating low cost PC-based 3D VR technology are developed and actively used for bio-mimetic study on new paradigm of human interactive robotics. The first platform integrated PC-based immersion-type display with a motion capture system as well as a 3D dynamic simulator, which makes it possible for human subject to feel as if he/she is immersed within the same environment of the robot. It can be used to simulate and evaluate the physical interaction with human while not really damage him/her. The second one consists of real and virtual dual-arm robot equipped with vision and force sensors. Through force display and HMD, human operator can feel as if he/she is immersed within the robot body and perform tele-manipulation easily based on our unilateral control approach.