Sensorimotor Control Sharing With Vibrotactile Feedback for Body Integration Through Avatar Robot

Yoshihiro Tanaka, Takumi Katagiri, Hikari Yukawa, Takumi Nishimura, Ryohei Tanada, Itsuki Ogura, Takayoshi Hagiwara, Kouta Minamizawa

研究成果: Article査読

6 被引用数 (Scopus)


An avatar robot can be operated by multiple users, augmenting the operation of a single user. In this study, we assembled a collaborative operation system for a 7-DoF robotic arm with a gripper controlled by two users. The users share the role of controlling the robot with one user controlling the arm and the other controlling the gripper. The actions of the two users must be seamlessly coordinated to ensure smooth and precise operations. Therefore, this study aimed to investigate vibrotactile feedback to promote recognition of the actions of a partner. A pick-and-place task was considered as a basic operation. First, an intensity adjustment was developed for vibrotactile feedback to ensure linear sensitivity and its usefulness was verified. An estimation test for the reaching motion showed that the target position was estimated accurately based on velocity feedback, indicating that the participants imaged the arm motion. Subsequently, collaboration tests with and without vibrotactile velocity feedback revealed a potential effect of vibrotactile feedback in terms of reducing the time required for completing the target task. Our experimental results indicate that vibrotactile feedback for partner's motion can be applied to achieve smooth collaborative operations using an avatar robot.

ジャーナルIEEE Robotics and Automation Letters
出版ステータスPublished - 2022 10月 1

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 生体医工学
  • 人間とコンピュータの相互作用
  • 機械工学
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 人工知能


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