TELESAR V: TELExistence surrogate anthropomorphic robot

ABSTRACT

Telexistence is fundamentally a concept named for the general technology that enables a human being to have a real-time sensation of being at a place other than where he actually exist, and to interact with the remote environment [Tachi et al. 1990]. We have achieved human-like neck movements to visually interact with a remote object in 3 dimensional space through previous versions of TELESAR [Watanabe et al. 2007]. We introduce "TELESAR V" which maps a user's spinal neck, head and arm movements into a dexterous slave robot and allowing the operator to feel the robot's body as his own body through visual, auditory, kinesthetic and fingertip tactile [Sato et al. 2007] sensation. With TELESAR V, operator can perform teleoperations confidently with no prior practise.

References

1. Minamizawa, K., Kamuro, S., Fukamachi, S., Kawakami, N., and Tachi, S. 2008. Ghostglove: haptic existence of the virtual world. In ACM SIGGRAPH 2008 new tech demos, ACM, New York, NY, USA, SIGGRAPH '08, 18:1--18:1.
2. Sato, K., Minamizawa, K., Kawakami, N., and Tachi, S. 2007. Haptic telexistence. In ACM SIGGRAPH 2007 emerging technologies, ACM, New York, NY, USA, SIGGRAPH '07.
3. Tachi, S., Arai, H., and Maeda, T. 1990. Tele-existence master-slave system for remote manipulation. In Proceedings. IROS '90. IEEE International Workshop on, 343--348 vol.1.
4. Watanabe, K., Kawabuchi, I., Kawakami, N., Maeda, T., and Tachi, S. 2007. Torso: completion of egocentric telegnosis system. In ACM SIGGRAPH 2007 emerging technologies, ACM, New York, NY, USA, SIGGRAPH '07.

Index Terms

• Computing methodologies

  • Computer graphics

    • Graphics systems and interfaces

      • Virtual reality

• Human-centered computing

  • Human computer interaction (HCI)

    • Interaction paradigms

      • Mixed / augmented reality

      • Virtual reality