Sensation Imparting Device for Robot Telexistence Latency
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Solution Overview
Problem
In telexistence, bidirectional transmission of multiple media streams is required for seamless robot operation, but delays in data communication, encoding, and mechanical processes can cause operator disorientation and difficulty in controlling robots, leading to dizziness and reduced operability.
Innovation Solution
A sensation imparting apparatus and method that transmit operator state information to robots, receive robot state information, and control the sensation based on actual or estimated virtual state information, using buffers to manage delay times and ensure synchronized operation, even under high latency conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If bidirectional transmission of multiple media streams is implemented for telexistence, then robot operability is improved, but transmission delay and data loss occur
Solution Approach 1:
The system performs preliminary actions by predicting the robot's future state based on current state information and operator input patterns before actual state changes occur. This allows the sensation imparting device to prepare and transmit appropriate haptic feedback in advance, reducing perceived delay time and improving operational responsiveness despite network latency.
2Speed
If real-time robot control is achieved through telexistence, then operator responsiveness is improved, but delay time increases causing operator disorientation
Solution Approach 1:
The system performs preliminary actions by predicting the robot's future state based on current state information and operator input patterns before actual state changes occur. This allows the sensation imparting device to prepare and transmit appropriate haptic feedback in advance, reducing perceived delay time and improving operational responsiveness despite network latency.
Solution Approach 2:
The system dynamically adjusts the prediction model based on the type of operator input detected. When acceleration input is detected, the system switches to acceleration prediction mode; when position input is detected, it switches to position prediction mode. This dynamic adaptation optimizes the prediction accuracy for different operational scenarios, maintaining responsiveness while managing delay time effectively.
3Measurement precision
If sensation feedback is provided based on actual robot state information, then control precision is improved, but delay time causes sensation desynchronization
Solution Approach 1:
The system performs preliminary actions by predicting the robot's future state based on current state information and operator input patterns before actual state changes occur. This allows the sensation imparting device to prepare and transmit appropriate haptic feedback in advance, reducing perceived delay time and improving operational responsiveness despite network latency.
Data Source
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AI summary
According to the present invention, a terminal device 21 has: a transmission unit 131 which transmits, to a robot, operator state information indicating the state of a user 11 operating the robot; a receiving unit 132 which receives, from the robot, robot state information indicating the state of the robot; a sensation imparting unit 114 which imparts a predetermined sensation to the user 11; and a control unit 115 which, when a delay time required for the receiving unit 132 to receive the robot state information after the transmission unit 131 transmits the operator state information is no longer than a predetermined time, controls the sensation imparting unit 114 so as to impart a sensation based on the robot state information to the user 11, and when the delay time is longer than the predetermined time, controls the sensation imparting unit 114 to impart, to the user 11, a sensation based on virtual state information that indicates an estimated robot state.