Teleoperation End Effector Control Using Intent and Environment Estimation
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Solution Overview
Problem
Existing teleoperation systems for robots are expensive and time-consuming to prepare due to the need for attaching numerous sensors to the operator.
Innovation Solution
A teleoperation assist device that remotely operates an end effector using a motion acquiring unit, intention estimating unit, environmental status determining unit, and parameter setting unit to determine the operation amount based on acquired information, eliminating the need for expensive exoskeletons.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If numerous sensors are attached to the operator for accurate teleoperation, then measurement precision and control accuracy are improved, but device complexity and preparation time increase significantly
Solution Approach 1:
The patent extracts the measurement function from complex sensor attachments and concentrates it in a single wearable camera mounted on the operator's head. This camera captures images that are then processed to extract operator motion information, eliminating the need for multiple sensors while maintaining measurement precision.
Solution Approach 2:
The patent replaces the mechanical sensor attachment system with an optical system using a wearable camera. Instead of using physical sensors to detect motion, the system uses image capture and processing to extract motion information, substituting mechanical measurement with optical measurement.
2Reliability
If numerous sensors are attached to the operator for accurate teleoperation, then control accuracy is improved, but preparation time increases significantly
Solution Approach 1:
The patent extracts the essential measurement function from complex sensor systems and implements it through a single wearable camera. This dramatically reduces preparation time while maintaining the reliability needed for accurate teleoperation control.
3Measurement precision
If expensive exoskeleton systems with numerous sensors are used, then teleoperation accuracy is improved, but cost increases significantly
Solution Approach 1:
The patent replaces expensive exoskeleton systems with a cost-effective wearable camera system. The camera is a relatively inexpensive device compared to exoskeletons, and the system uses software-based image processing to achieve accurate motion measurement, significantly reducing overall system cost.
Solution Approach 2:
The patent substitutes expensive mechanical exoskeleton systems with an optical measurement system using a wearable camera. This replacement maintains measurement precision while dramatically reducing system cost and complexity.
Data Source
AI summary
A teleoperation assist device includes: a motion acquiring unit configured to acquire information on a motion of an operator who operates an end effector; an intention estimating unit configured to estimate a target object which is a target operated by the end effector and a task which is an operation method of the target object using the information acquired by the motion acquiring unit; an environmental status determining unit configured to acquire environment information of an environment in which the end effector is operated; a parameter setting unit configured to acquire information from the intention estimating unit and the environmental status determining unit and to set parameters of an operation type of the end effector from the acquired information; and an end effector operation determining unit configured to determine an amount of operation of the end effector on the basis of taxonomy which is the set parameters and the information acquired by the motion acquiring unit.