Development of 3D visual feedback system for Cybernic Master System

摘要

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.