Considerations on Interaction with Manipulator in Virtual Reality Teleoperation Interface for Rescue Robots^*

摘要

In recent years, commercially available head-mounted display and virtual reality (VR) controllers have made it possible to implement user interfaces that facilitate situational awareness and reduce operator workload. This study focuses on operator interaction and workload in a VR teleoperation interface for rescue robots. Three interaction methods are implemented in this interface, which differ in the timing between the operation in VR space and the movement of the robot. The operating characteristics of these three interaction methods and a conventionally used gamepad are compared through a manipulator teleoperation task with nine participants.