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

57 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 publicationIEEE International Conference on Intelligent Robots and Systems
Pages5112-5118
Number of pages7
DOIs
Publication statusPublished - 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 2012 Oct 72012 Oct 12

Other

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

Fingerprint

Anthropomorphic robots
Robots
End effectors
Display devices
Experiments

ASJC Scopus subject areas

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

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 IEEE International Conference on Intelligent Robots and Systems (pp. 5112-5118). [6385814] https://doi.org/10.1109/IROS.2012.6385814

Design of TELESAR v for transferring bodily consciousness in telexistence. / Fernando, Charith Lasantha; Furukawa, Masahiro; Kurogi, Tadatoshi; Kamuro, Sho; Sato, Katsunari; Minamizawa, Kouta; Tachi, Susumu.

IEEE International Conference on Intelligent Robots and Systems. 2012. p. 5112-5118 6385814.

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

Fernando, CL, Furukawa, M, Kurogi, T, Kamuro, S, Sato, K, Minamizawa, K & Tachi, S 2012, Design of TELESAR v for transferring bodily consciousness in telexistence. in IEEE International Conference on Intelligent Robots and Systems., 6385814, pp. 5112-5118, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 12/10/7. https://doi.org/10.1109/IROS.2012.6385814
Fernando CL, Furukawa M, Kurogi T, Kamuro S, Sato K, Minamizawa K et al. Design of TELESAR v for transferring bodily consciousness in telexistence. In IEEE International Conference on Intelligent Robots and Systems. 2012. p. 5112-5118. 6385814 https://doi.org/10.1109/IROS.2012.6385814
Fernando, Charith Lasantha ; Furukawa, Masahiro ; Kurogi, Tadatoshi ; Kamuro, Sho ; Sato, Katsunari ; Minamizawa, Kouta ; Tachi, Susumu. / Design of TELESAR v for transferring bodily consciousness in telexistence. IEEE International Conference on Intelligent Robots and Systems. 2012. pp. 5112-5118
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