Improvement of operation for tele-manipulation system using virtual reality: realization of common movement direction and common force direction in master and slave at arbitrary viewpoint

Tele-manipulation systems are used in many fields where one can´t operate directly. Recently, virtual reality has been focused as a method for the improvement of manipulability in tele-manipulation systems. In previous research, simulations in virtual space overcame the problems caused by communication time delay, and a virtual guide was proposed in order to assist operations. However, the relationship between the viewpoint and the coordinates of the operation has not been discussed much, although virtual reality enables us to select an arbitrary viewpoint. In our research, we have proposed a new model in which the coordinates of the operation are defined by the viewpoint in order to improve the manipulability of tele-manipulation, and we have performed a fundamental experiment in order to evaluate the manipulability of our proposed model