Telexistence Image Cutout Correction for Motion Sickness
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Solution Overview
Problem
In telexistence systems, inaccuracies in the rotation angles of the robot's movable unit cause deviations between the operator's viewing angle and the camera's capture angle, leading to telexistence motion sickness due to the lack of precise synchronization between the operator's head motion and the robot's movement.
Innovation Solution
An image display device with an operator motion data acquisition unit, robot motion data acquisition unit, image data acquisition unit, image correction unit, synchronization switch, and synchronization controller that synchronizes and corrects the image cutout range based on the difference between the operator's and robot's rotation angles, ensuring accurate alignment and reducing motion sickness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot's movable unit rotates in response to operator head rotation, then remote control functionality is achieved, but rotation angle deviation occurs due to driver accuracy limitations
Solution Approach 1:
The system acquires robot motion data from the robot and compares it with operator motion data to detect rotation angle deviations. Based on this feedback, the image correction unit corrects the cutout range of the omnidirectional image to compensate for the deviation, ensuring the displayed image aligns with the operator's actual viewing direction despite robot rotation inaccuracies.
2Measurement precision
If synchronization between operator and robot rotation is implemented, then viewing angle alignment is improved, but system complexity increases due to additional control mechanisms
Solution Approach 1:
The image correction unit acts as an intermediary that processes the omnidirectional image data and adjusts the cutout range based on rotation angle deviations. Instead of directly controlling the robot's rotation mechanism, the system mediates the visual feedback by correcting the displayed image, thereby achieving viewing angle alignment through software processing rather than complex hardware synchronization.
3Object-affected harmful factors
If the cutout range is corrected based on rotation angle difference, then telexistence motion sickness is reduced, but processing time increases due to additional correction calculations
Solution Approach 1:
The system acquires robot motion data and calculates rotation angle deviations in advance, before generating the final displayed image. By performing the correction calculation preliminarily and integrating it into the image generation process, the system minimizes additional processing time while still achieving the necessary cutout range correction to prevent motion sickness.
Data Source
AI summary
A synchronization controller performs control so that operator motion data is transmitted to a robot when a synchronization switch is set to ON which allows synchronization of a rotational motion of an operator with a rotational motion of the robot. An image correction unit, when there is a difference between a first rotation angle of the operator and a second rotation angle of the robot, corrects a cutout range of an image so as to be equal to a range corresponding to the first rotation angle. The synchronization controller performs control so that the operator motion data is not transmitted to the robot when the synchronization switch is set to OFF which does not allow synchronization of a rotational motion of the operator with a rotational motion. The image correction unit corrects the cutout range so as to be equal to a range corresponding to the first rotation angle.