TORSO: Development of a Telexistence Visual System Using a 6-d.o.f. Robot Head

Abstract

Abstract In telexistence master–slave systems, it is important to transmit visual information from remote places to the operator. Conventional imaging devices in head-mounted displays (HMDs) can only express the three-axis rotation of the neck. However, humans can obtain broader visual fields and motion parallax information from the translational motion of their necks. We have proposed a system that can acquire natural and comfortable visual information, and can accurately track the head motion of a person. Our proposed device can express the head motion and the translation movements of the neck. We have developed a robot, called 'TORSO', and constructed a telexistence visual system with a display device, HMD. In this paper, by means of a broader field of view achieved by motion involving looking around, we demonstrate the advantage and novelty of our proposed system. In addition, we suggest the evolution of the TORSO–HMD system. Keywords: TELEXISTENCEMASTER–SLAVE6 D.O.F. ROBOT HEADTORSOMOTION PARALLAX