力覚提示機能を有する遠隔操作建設ロボットシステムの操作性評価（カメラ映像による遠隔操作ロボットシステムに力覚提示機能を備えた場合の操作性評価）

摘要

This research examines a master-slave control system for a tele-operation construction robot. This system is comprised of two joysticks on the master side, which are used to perform the object operation from a remote location, and a robot arm with four degrees of freedom consisting of a fork glove, swing, boom, and arm on the slave side. The authors previously proposed a control method that gives the operator a realistic feeling of the force generated by the construction robot independent of the characteristics of the object being manipulated using the velocity-drive force characteristics of the actuator. However, that research did not reach a stage in which operability could be evaluated adequately when the control method was adapted to actual tasks. Due to the high adaptability of human subjects, there are cases in which adequate evaluation is difficult if only work efficiency is considered. Therefore, an evaluation that includes the mental strain on the operator is necessary. We believe that alleviating this mental strain can contribute to improved efficiency and safety in tele-operation work. In this study, we evaluated operability when this control method is adapted to an actual task, based on work efficiency, indexes expressing the danger level of an operation, and measurement of mental strain using NASA-TLX, and we verified the effectiveness of the control method.%原子力施設内や災害現場などのように，人間が直接 立ち入ることが困難な極限環境下での作業では，人間 が安全な場所からロボットを操作する遠隔操作が有効 な手段となる．我が国では，雲仙普賢岳の噴火災害復 旧工事に遠隔操作による施工（無人化施工）が本格的 に導入されたことを契機として，これまでに多くの適 用例が報告されている．そして，2001年には国土交通 省が無人化施工を公共事業へ本格的に導入していくと いう方針を打ち出したことから，今後，無人化施工は より身近なものになると考えられる．