Title :
Development of 3D visual feedback system for Cybernic Master System
Author :
Hiramatsu, Kaoru ; Sankai, Yoshiyuki
Author_Institution :
Syst. & Inf. Eng., Univ. of Tsukuba, Tsukuba, Japan
Abstract :
This paper developed 3D Visual Feedback System for Cybernic Master System. This Cybernic master system is a master-slave system for manipulations and consists of master-slave robot arm and visual feedback system. The Cybernic master arm uses joint torque estimation method, based on Bioelectrical Signal. To reap full advantage of the control method, not only feedback to somatosensory system such as force and impedance control but also optimal visual feedback is an important factor in transmitting information to an operator. To achieve visual feedback, it is installed stereoscopic vision and operation assist system using Augmented Reality. The stereoscopic vision is controlled by our active control method of a convergence angle depending on the distance to objects. The operation assist system can show stereoscopic images that is overlaid the virtual objects. Using the virtual objects such as virtual walls and protected areas, it is possible to assist the safe operations. We conducted experiments to verify that the operator can view parallax image stereoscopically at the leaching range that is near to a human arm. Our system in short distance was effective compared with normal parallax method. Then, we conducted operation test to ensure that it is possible to perform the area protection with the virtual wall using our system. At the result, protection areas were formed, and we ensured that slave arm robot could not invade those areas. In addition, the operation assists such as not only protection of crash but also the tracing movement and operation instruction by the virtual walls is possible.
Keywords :
augmented reality; feedback; manipulators; motion control; robot vision; stereo image processing; telerobotics; torque control; 3D visual feedback system; active control method; augmented reality; bioelectrical signal; convergence angle; cybernic master system; force control; human arm; impedance control; information transmission; joint torque estimation method; leaching range; manipulation; master-slave robot arm; master-slave system; operation assist system; operation instruction; optimal visual feedback; protected area; safe operation assistance; slave arm robot; somatosensory system; stereoscopic image; stereoscopic parallax image viewing; stereoscopic vision; tracing movement; virtual objects; virtual walls; Cameras; Convergence; Head; Robot vision systems; Stereo image processing; Visualization;
Conference_Titel :
System Integration (SII), 2012 IEEE/SICE International Symposium on
Conference_Location :
Fukuoka
Print_ISBN :
978-1-4673-1496-1
DOI :
10.1109/SII.2012.6427327