Design of an Intuitive Master for Improving Teleoperation Task Performance Using the Functional Separation of Actuators: Movement and Gravity Compensation

摘要

Teleoperation, in which humans and robots work together to improve work performance, is growing explosively. However, the work performance of teleoperation is not yet excellent. Master–slave systems with different kinematics and workspaces need space-transformation control techniques. These techniques cause psychological fatigue to an operator with poor manipulation skills. In this study, we propose an intuitive master design that focuses on fatigue. Large workspaces reduce mental fatigue; however, they lead to physical fatigue problems. To solve this problem, we reflect the role of actuators in the design, through functional separation using movement and gravity compensation. This study proposes the design and prototype fabrication of an intuitive master K-handler to improve remote-work performance. The K-handler features six degrees of freedom (DoF), an anthropomorphic structure, and a lightweight nature. It has a reach long enough to cover the workspace of the human arm to reduce mental fatigue. In addition, gravity compensation, which can reduce the operator’s physical fatigue during operation, is possible in all workspace areas.