Teleoperation method by illusion of human intention and time

Junki Aoki, Ryota Yamashina, Ryo Kurazume

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

抄録

Shared control, in which teleoperation and autonomous control are combined to move the robot, is expected to improve the efficiency of the user teleoperation problem. However, a problem exists whereby the user acceptance decreases owing to the conflict of intention between the teleoperation and autonomous control. In this study, we address this problem by providing an illusion to humans. We propose a teleoperation method named the 'Illusory Control' that can achieve both mobility efficiency and user acceptance by implementing a cyber-physical system that controls a robot in real space through robot operations in virtual space. Illusory Control has two functions: the 'Illusion of Intention, ' which provides the illusion that the robot is operating according to human intention, and 'Illusion of Time, ' which provides the illusion of time to fill the gap by changing human behavior when the robot positions in the virtual space and real space diverge. Preliminary teleoperation experiments with subjects demonstrated that the system improves the operational efficiency and acceptance of the system compared to conventional teleoperation methods, namely direct teleoperation and shared control.

本文言語英語
ホスト出版物のタイトル2021 30th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2021
出版社Institute of Electrical and Electronics Engineers Inc.
ページ482-487
ページ数6
ISBN(電子版)9781665404921
DOI
出版ステータス出版済み - 8月 8 2021
イベント30th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2021 - Virtual, Vancouver, カナダ
継続期間: 8月 8 20218月 12 2021

出版物シリーズ

名前2021 30th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2021

会議

会議30th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2021
国/地域カナダ
CityVirtual, Vancouver
Period8/8/218/12/21

!!!All Science Journal Classification (ASJC) codes

  • 人間とコンピュータの相互作用
  • 通信
  • 人工知能

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