Human Interface for teleoperational system with human visual characteristics

研究了远程操作系统的人机界面。新型立体视频系统以中心高分辨率区域为中心，周围低分辨率宽视角区域为中心，提高了工作效率，但该系统需要四个传输通道。这可能是使用的限制。研究了通道缩减方法，发现周围低分辨率图像的场缩减对工作效率没有影响。我们在实际环境下进行了几次实验。在实验中，将新型立体视频系统安装在可移动机器人上。在另一个实验中，高分辨率区域是通过操作者的眼球运动来移动的。收集了远程操作系统人机界面的基本数据。此外，我们还研究了力反馈的效果，以弥补视觉信息的不足。利用虚拟现实技术进行的仿真实验表明，力反馈是有用的，但在实际工作实验中，力反馈是不支持的。造成这种差异的原因是虚拟空间中的模拟和/或实际工作中的力反馈并不完美。这些研究阐明了远程操作工作系统人机界面的特点及其实现。

Human interface of teleopeational system was investigated. The new stereoscopic video system which has central high resolution area within surrounding low resolution but wide visual angle area brings high work efficiency but this system need four transmission channels per one system. This may be a limit for use. We studied channel reduction method and found that field reduction in surrounding low resolution image was not influence on work efficiency.We conducted several experiments under the practical circumstances. In an experiment, the new stereoscopic video system was installed on the movable robot. And in another experiment, the high resolution area was moved by operator's eye movement. We collected the basic data of human interface for teleoperational system.Furthermore, we studied the effect of force feedback in order to complement the shortage of visual information. A simulation experiment by virtual realty technology showed that force feedback was useful, but force feedback was not supportive in an actual work experiment. This difference was caused by that the simulations in virtual space and/or force feedback in actual work were not perfect.These studies clarified that the characteristics for human interface of teleoperational work system and its implementation.