Alternative predictive display method of motion and force information without using environment model - design of real-image-based network teleoperation system -

The goal of our research is a construction of an Internet-based real image teleoperation system that realizes the comfortable and efficient operation under the existence of the network time delay "without using the remote environment model." In teleoperation, monitoring the condition of the remote environment is very important for human operator\´s visual feedback loop. However, the captured image of the remote environment, i.e., real image, is delayed in the network transmission process and it leads to the instability of the human operation and reduces the system maneuverability. Although the predictive display based on the virtual environment model is one of the effective approaches, the construction of the precise dynamic model of the environment is difficult and time-consuming task and, in addition, it cannot be applied to tasks in which the real image is necessary for operation. In this paper, we construct a new predictive display system for a real-image-based multi-d.o.f. teleoperation without using any virtual environment