HMDを用いた脚ロボット遠隔操作時における酔いの低減が可能な注視の典型動作を用いた低認知負荷ズーム手法の効果検証

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  • Investigation of Effects on Low Cognitive Load Zoom Method Based on Typical Movements during Gazing to Reduce Motion Sickness in Teleoperation of Legged Robots with HMD

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<p>Detailed views are necessary for precise manipulation in teleoperation of humanoid robots controlled by the master slave system with head mounted display. Thus, we have proposed an autonomous zoom method based on the positions of the hands, which could increase work efficiency. However, it caused motion sickness and high cognitive load owing to little reflection of operators’ intention. In this study, we thus propose a low cognitive-load zooming interface with little motion sickness. Motion sickness can be reduced by active conditions with manual control rather than passive conditions. Moreover, the interface should let operators reflect their intention to realize a low cognitive load zoom. Furthermore, the interface should be without upper limbs because operators control robots by their upper limbs. Thus, we developed the zoom interface with head movements which are typical movements during gazing. The experimental results suggest that the proposed interface can reduce sickness and cognitive load.</p>

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