Remote Robot Posture Alignment Before Motion Synchronization
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Solution Overview
Problem
Operators experience discomfort due to discrepancies in sensations when starting synchronization between their own motion and the motion of a slave robot in remote control systems, particularly in terms of line-of-sight direction and hand position, leading to potential sickness.
Innovation Solution
A remote control system with a control apparatus that compares the posture of the operator and the slave robot, adjusts the synchronization based on a predetermined threshold range, and provides visual and tactile guidance to align their postures, using a posture comparing part to calculate errors and a motion connecting part to synchronize movements, while a video controller and tactile signal generator manage the presentation of virtual markers and signals to facilitate alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If synchronization between operator motion and slave robot motion is started without posture alignment, then the remote control operation can begin immediately, but the operator experiences discomfort due to discrepancy in sensations
Solution Approach 1:
The system performs preliminary posture alignment by displaying connection markers and guiding the operator to adjust their posture before synchronization begins. This preliminary action ensures that the operator's line-of-sight direction and hand position match the slave robot's posture, preventing sensory discrepancy and discomfort during operation
Solution Approach 2:
The system provides real-time feedback by displaying connection markers that show the positional relationship between the operator and slave robot. This visual feedback allows the operator to understand their posture deviation and make adjustments, ensuring proper alignment before synchronization starts
2Ease of operation
If the operator's posture is strictly aligned with the slave robot before synchronization, then sensation discrepancy is reduced, but the setup time and complexity increase
Solution Approach 1:
The system enables the operator to perform self-alignment by displaying connection markers that intuitively show the required posture adjustment. The operator can independently adjust their own posture to match the slave robot's position without external assistance, simplifying the alignment process
Solution Approach 2:
Connection markers serve as visual intermediaries between the operator and the slave robot's posture requirements. These markers translate complex spatial relationships into simple visual cues, making the alignment process more intuitive and less complex
Data Source
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AI summary
A slave robot moves in conjunction with a change of a posture of an operator in a remote control system. A capture device acquires a signal indicating a posture of an operator's body. A control apparatus includes a receiving controller 120 that receives a signal indicating a posture of the slave robot from the slave robot and receives the signal indicating the posture of the operator's body from the capture device, a posture comparing part 122 that acquires a posture error indicating a difference between the posture of the slave robot and the posture of the operator, and a motion connecting part 123 that transmits, to the slave robot, an operation signal for operating the slave robot generated on the basis of the change in the posture of the operator on a condition that the posture error is within a predetermined threshold range.