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Bae, Joonbum
Bio-Robotics and Control (BiRC) Lab
Research Interests
  • Design and control of physical human-robot interaction systems

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A Tele-Operated Display With a Predictive Display Algorithm

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Title
A Tele-Operated Display With a Predictive Display Algorithm
Author
Jung, YeongtaeHan, KyutaekBae, Joonbum
Issue Date
2019-10
Publisher
Institute of Electrical and Electronics Engineers Inc.
Citation
IEEE ACCESS, v.7, pp.154447 - 154456
Abstract
Tele-operated display systems with head mounted displays (HMD) are becoming popular as visual feedback systems for tele-operation systems. However, the users are suffered from time-varying bidirectional delays caused by the latency and limited bandwidth of wireless communication networks. Here, we develop a tele-operated display system and a predictive display algorithm allowing comfortable use of HMDs by operators of tele-operation systems. Inspired by the kinematic model of the human head-neck complex, we built a robot neck-camera system to capture the field of view in any desired orientation. To reduce the negative effects of the time-varying bidirectional communication delay and operation delay of the robot neck, we developed a predictive display algorithm based on a kinematic model of the human/robot neck-camera system, and a geometrical model of a camera. Experimental results showed that the system provide predicted images with high frame rate to the user.
URI
https://scholarworks.unist.ac.kr/handle/201301/27830
URL
https://ieeexplore.ieee.org/document/8879481
DOI
10.1109/ACCESS.2019.2948879
ISSN
2169-3536
Appears in Collections:
MNE_Journal Papers
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