OVERVIEW
We developed a system in which two users are integrated into one actual robot arm to collaborate with each other. The method of dividing the roles allows flexible movements that is not dependent on the range of movement and rotational freedom of the human arm, and enables movements that are impossible for a single person. The mixing of movements in adjustable ratio allows an expert to support a beginner to make more stable movements, and induces collaboration between users with different perspectives. Additionally, we implement tactile feedback to enable interaction between users and between users and the robot. We investigate the effects of these on usability and cognitive behavior. This system is expected to become a new method of collaboration in the Cybernetic Avatar Society.
複数人が1つのアバターを操作して互いの感覚を共有し動作を融合する身体融合によって、異なる技能や経験を有する他者との身体的な共創を実現することを目指し、1つのロボットアームを2人の操作者が同時に操作し、協調作業を行うシステムです。双方の運動を一定の割合で融合することにより、熟練者から初心者への技能伝達や遠隔地にいる人同士での協調作業、異なる技能を持つ人同士の共創を誘発するなど、サイバネティックアバター社会における新しい共同作業の手法としての応用が考えられます。
MEMBER
Project Lead
– Takayoshi Hagiwara (Keio University Graduate School of Media Design)
Robot control system design
– Takumi Katagiri (Nagoya Institute of Technology)
– Itsuki Ogura (Nagoya Institute of Technology)
Tactile feedback design
– Ryohei Tanada (Nagoya Institute of Technology)
– Takumi Nishimura (Nagoya Institute of Technology)
Engineering support
– Taku Tanichi (Keio University Graduate School of Media Design)
Haptic device design and modeling
– Yulan JU (Keio University Graduate School of Media Design)
Research Supervisor
– Hikari Yukawa (Nagoya Institute of Technology)
– Yoshihiro Tanaka (Nagoya Institute of Technology)
Project Manager
– Kouta Minamizawa (Keio University Graduate School of Media Design)
RELATED PUBLICATIONS
萩原 隆義，片桐 拓海，湯川 光，田中 由浩，南澤 孝太 (2021)．ロボットアバターを介した身体融合における運動共有の基礎検討，3D2-6，日本バーチャルリアリティ学会，12-14 September 2021．
Takayoshi Hagiwara, Takumi Katagiri, Hikari Yukawa, Itsuki Ogura, Ryohei Tanada, Takumi Nishimura, Yoshihiro Tanaka, and Kouta Minamizawa. 2021. Collaborative Avatar Platform for Collective Human Expertise. In SIGGRAPH Asia 2021 Emerging Technologies (SA ’21 Emerging Technologies:), December 14-17, 2021. ACM, New York, NY, USA, 2 pages. https://doi.org/10. 1145/3476122.3484841
