Tele-existence (I): Design and Evaluation of a Visual Display with Sensation of Presence
Tele-existence (I): Design and Evaluation of a Visual Display with Sensation of Presence
复制标题
远程存在（I）：具有临场感的视觉显示的设计与评估
DOI：
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发表时间：
1985
期刊：
影响因子：
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通讯作者：
M. Kaneko
中科院分区：
文献类型：
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作者：
S. Tachi;K. Tanie;K. Komoriya;M. Kaneko
总结：远程存在系统是一种远程操作系统，其使得在控制处的人类操作员能够灵巧地执行远程操作任务，感觉到她/他存在于远程环境中的从拟人机器人中。机械工程实验室已经开始了一项为期8年的先进机器人国家项目，以实现这种远程存在系统。本文首先阐述了项目目标。其次，视觉显示系统，测量操作者的头部移动速度，根据移动控制从机器人的视觉系统，并通过头戴式CRT显示器将获取的两个视觉图像显示给操作者的双眼，当设计和构造时，CRT显示器的图像依次融合以给出视觉感觉（这是非常自然的）。该系统的评价已经进行了测量的度量的人类操作员的双目视觉空间有或没有显示设备。实验结果表明，通过适当控制显示透镜的焦距和两个CRT的会聚角，可以在遥现系统中保留裸眼观察到的双眼视觉空间的度量。
Summary: The tele-existence system is a teleoperator system that enables a human operator at the controls to perfonn remote manipulation tasks dexterously with the feeling that s/he exists in the slave anthropomorphic robot in the remote environment. The Mechanical Engineering Laboratory has started an 8-year national project of ad vanced robotics to realize this tele-existence system. In this paper the project goal is described first. Next, the visual display system that measures the operator's head move ment, controls the slave robot's vision system according to the movement, and displays the acquired two visual images to both the operator's eyes through head-mounted CRT displays, whose images in turn fuse to give the visual sensation (which is very natural), when designed and constructed. Evaluation of the system has been carried out by measuring the metric of binocular visual space of a human operator with or without the display device. The experiment reveals that the metric of the binocular visual space viewed with the naked eye can be reserved in tele-existence system by servoing the focal length of the display lenses and the angle of the convergence of the two CRTs appropriately.