This paper describes a tele-machining system using multi-axis force data and stereo sound information. In the proposed system, the force information from the multi-axis force sensor is used not only to determine the machining and the operation state but is also reflected back to the operator through a three degree-of-freedom joystick to give the human operator the impression that he is directly manipulating the object. This illusion is created by mapping the multi-axis force information obtained in the cutting zone to the joystick system. As a further aid to understanding the process state, stereo sound, including both verbal and non-verbal information, is included in the system to enhance the user interface. Changes in the cutting state are perceived by the operator as changes in the tone quality. Verbal information is transmitted to the system by the operator in the case of an extraordinary cutting state and is also used to confirm the instructions of the operator. The availability of such verbal and non-verbal information decreases the anxiety of the operator. The effectiveness of the system was demonstrated by experiment.
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