Tele-existence and/or cybernetic interface studies in Japan

摘要

Tele-existence aims at a natural and efficient remote control of robots by providing the operator with a real time sensation of presence. It is an advaced type of teleoperation system which enables a human operator at the controls to perform remote manipulation tasks dexterously with the feeling that he or she exists in one of the remote anthropomorphic robots in the remote environment, e.g., in a hostile environment such as those of nuclear radiation, high temperature, and deep space. In order to study the use of the tele-existence system in the artificially constructed environment, the visual tele-existence simulator has been designed, a pseudo-real-time binocular solid model robot simulator has been made, and its feasibility has been experimentally evaluated. An anthropomorphic robot mechanism with an arm having seven degrees of freedom has been designed and developed as a slave robot for feasibility experiments of teleoperation using the tele-existence method. An impedance controlled active display mechanism and a head mounted display have also been designed and developed as the display subsystem for the master. The robot's structural dimensions are set very close to those of humans.