Ｒｏｂｏｔ‐Ｓｕｐｐｏｒｔｅｄ Ｃｏｏｐｅｒａｔｉｖｅ Ｗｏｒｋの提案―実空間視野共有型コラボレーションシステムＳＣＯＰＥを用いた遠隔作業支援―

Abstract

To create a more efficient environment in which to perform remote maintenance, the authors propose a novel collaboration concept, called robot-supported cooperative work (RSCW) . In RSCW a maintenance robot assists a cooperation work between an on-site human worker and another skilled human operator at a remote support center. By emphasizing the intentions of the remote supporter through robot functions that cannot be imitated by humans, RSCW can provide effective support for the on-site worker. In the present study, as the first manifestation of RSCW, featuring the projection capability of a maintenance robot, a prototype remote-collaboration system named SCOPE (sight collaboration by projection effect) was developed. This system consists of a projector unit with a camera, a multiple control unit (MCU) for video/voice communications, and PCs connected via a network. It has three key functions: creating a shared field of view between a remote supporter and an on-site worker, keeping metainformation related to objects in real space, and projecting meta-information onto the objects. The effectiveness of these functions was evaluated by experiments on two fundamental tasks—“comprehending a target object”and“transmission of instruction details”—involved in a typical maintenance operation. The experimental results show that each function is effective in shortening the time taken to perform the maintenance operation.