Design of TELESAR v for transferring bodily consciousness in telexistence

Charith Lasantha Fernando, Masahiro Furukawa, Tadatoshi Kurogi, Sho Kamuro, Katsunari Sato, Kouta Minamizawa, Susumu Tachi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

65 Citations (Scopus)

Abstract

This paper focuses on design of a dexterous anthropomorphic robot where the operator can perceive the transferring bodily consciousness to the slave robot during a tele-operation. Accordingly, we propose a telexistence surrogate anthropomorphic robot called 'TELESAR V', which was designed and constructed by development of the following: a 52 DOF slave robot with a torso, upper limbs, hands and head to model the operator's posture on all parts of the upper body and maintain a 6 DOF accuracy in arm endpoint; a HD Head mounted display with 6 DOF point of view accuracy for wide angle stereovision; and a mechanism for sensing and reproducing fingertip haptic and thermal sensation. This paper describes the development of the TELESAR V system, where the effectiveness has been verified through functional experiments.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages5112-5118
Number of pages7
DOIs
Publication statusPublished - 2012 Dec 1
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 2012 Oct 72012 Oct 12

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Fernando, C. L., Furukawa, M., Kurogi, T., Kamuro, S., Sato, K., Minamizawa, K., & Tachi, S. (2012). Design of TELESAR v for transferring bodily consciousness in telexistence. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 5112-5118). [6385814] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6385814