A tele-machining system using multi-axis force data and stereosound information

摘要

This paper describes a tele-machining system using multi-axisforce data and stereo sound information. In the proposed system, theforce information from the multi-axis force sensor is used not only todetermine the machining and the operation state but is also reflectedback to the operator through a three degree-of-freedom joystick to givethe human operator the impression that he is directly manipulating theobject. This illusion is created by mapping the multi-axis forceinformation obtained in the cutting zone to the joystick system. As afurther aid to understanding the process state, stereo sound, includingboth verbal and non-verbal information, is included in the system toenhance the user interface. Changes in the cutting state are perceivedby the operator as changes in the tone quality. Verbal information istransmitted to the system by the operator in the case of anextraordinary cutting state and is also used to confirm the instructionsof the operator. The availability of such verbal and non-verbalinformation decreases the anxiety of the operator. The effectiveness ofthe system was demonstrated by experiment