2P1-D01 遠隔操縦システムにおける環境認識能力の熟達評価 : 車載カメラ映像による環境分類と操作入力に基づく熟達推定

概要

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In this paper, experimental analysis to evaluate human skill on machine manipulation is introduced for realization of a Human Adaptive Mechatronics(HAM). HAM is a novel concept of an intelligent mechanical systems that adapt themselves to the user's skill and assist to improve the user's skill. Using a tele-operated wheel mobile robot and a maze task, we acquired data of which human became skilled, and analyzed them in order to know what index can evaluate human skill level. From three kinds of analyses, that are eye-gaze behavior analysis, a feasible motion selection check based on observed camera image and a pattern recognition by Markov model, it was confirmed that synchronization of robot's operation and eye-fixation and cognitive manipulation not based on simple judgement from camera image have relation with performance level of the task.
一般社団法人日本機械学会の論文