Experimental Evaluation of Haptic Visualization Interface for Robot Teleoperation Using Onomatopoeia in a Haptic Recognition Task

摘要

This paper presents experimental evaluation of a haptic visualization interface in robot teleoperation. In the proposed interface, we visually provide a user with a sense of haptic feedback using onomatopoeia, a word that represents a sound. A suitable choice of onomatopoeia for describing the contact state is presented on a head mounted display of the operator. We present experimental results of a stiffness discrimination task of an object in contact in an occluded environment. The results demonstrate the effectiveness of the proposed method in comparison to other modalities such as vibration feedback and contact force visualization with a bar graph.