遠隔制御システムにおける力覚伝達方向の動的切り替え制御と切り替え時間の自動選択

概要

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This paper deals with a remote haptic control system which enables a haptic interface device to be controlled with another remote haptic interface device while watching video. We propose switching control which dynamically switches the transmission direction (one-way or two-way) according to network latency. The control chooses two-way transmission when the network latency between the master and slave terminals is small, and it selects one-way transmission when the network latency between the terminals is large. We demonstrate the effectiveness of the control by subjective assessment. We also propose automatic selection of switching time according to the contents of work. This proposal selects the optimal switching time automatically by identifying the contents of work when the haptic transmission direction is switched. In this paper, we further illustrate the effectiveness of the proposal by subjective assessment for work of writing multiple characters and work of drawing a figure without lifting a pen from a sheet.
2010-06-30