Browsing by Author "Maeda, Taro"

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    Contribution to Ownership and Agency When Controlling a Mobile Robot
    (The Eurographics Association, 2018) Hua, Junjie; Furukawa, Masahiro; Maeda, Taro; Huang, Tony and Otsuki, Mai and Servières, Myriam and Dey, Arindam and Sugiura, Yuta and Banakou, Domna and Michael-Grigoriou, Despina
    Out-of-body experience shows that body ownership can be built through illusory visual-tactile correlation when man observes avatar from its back.On the other hand, ownership and agency are usually thought to be negative when observing avatar face to face. We aim to clarify whether person perspective plays an important role on ownership and agency when controlling a mobile robot, and if so, how does ownership and agency change when person perspective changes. In this article, we developed a mouse-robot control system to construct a visual-motor synchronous system. We found that agency over robot is independent from ownership; ownership over robot can be experienced when facing it under synchronous conditions.
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    Effect of an Encounter-Type Haptic Device on Forceps Position Reproducibility in Laparoscopic Tracking Training
    (The Eurographics Association, 2018) Morishima, Akinobu; Terashima, Akihiro; Obama, Kazutaka; Sakai, Yoshiharu; Maeda, Taro; Ando, Hideyuki; Huang, Tony and Otsuki, Mai and Servières, Myriam and Dey, Arindam and Sugiura, Yuta and Banakou, Domna and Michael-Grigoriou, Despina
    This paper describes an improvement to our previously proposed laparoscopic training system that was designed to improve surgical skill transmission by allowing surgical trainees to replicate the movements of skilled surgeons dis-played on a monitor. However, we found that with this system, the precision of followability in the depth direction was low in comparison with that on the monitor in the planar direction. Herein, to improve the reproducibility of the forceps position and present clues for depth perception, we provide learners with haptic feedback by reproducing the viscera wall using an encounter-type haptic presentation device.
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    Equivalent Physical Constant Hypothesis for Skill Transmission in Scale Conversion Telexistence
    (The Eurographics Association, 2018) Miyamoto, Hiroki; Furukawa, Masahiro; Wada, Kosuke; Kurokawa, Masataka; Matsumoto, Kohei; Maeda, Taro; Bruder, Gerd and Yoshimoto, Shunsuke and Cobb, Sue
    Scale conversion telexistence can have an inconsistency in the motions of a human and robot of different scales. We assumed that the inconsistency is caused by the different apparent physical constants for the human and robot. We propose an equivalent physical constant hypothesis for motion skill transmission, which we verified experimentally by transmitting the standing-up movement of a human to a small robot. The robot successfully managed to stand up by compensating for the gravity. This proves the validity of the hypothesis.
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    Laparoscopic Sigmoidectomy Surgery Training System Using AR Follow-up Experience of Real Human Surgery
    (The Eurographics Association, 2018) Terashima, Akihiro; Morishima, Akinobu; Obama, Kazutaka; Sakai, Yoshiharu; Maeda, Taro; Ando, Hideyuki; Huang, Tony and Otsuki, Mai and Servières, Myriam and Dey, Arindam and Sugiura, Yuta and Banakou, Domna and Michael-Grigoriou, Despina
    In our learning system (OITORE Advance), high learning effect was confirmed by using teaching materials using porcine intestines. However, because the environment inside the abdominal cavity is different between pigs and people, there are scenes with different surgical procedures and surgical skills. Therefore, not all the learned skills are applied in human surgery. Therefore, in this paper we changed teaching materials from pig to human and adjusted the system accordingly.
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    Verification of Necessity of Equivalent Gravity in Telexistence With Scale Conversion for Utilization of Humanoid Small Robot
    (The Eurographics Association, 2018) Matsumoto, Kohei; Furukawa, Masahiro; Wada, Kosuke; Kurokawa, Masataka; Miyamoto, Hiroki; Maeda, Taro; Bruder, Gerd and Yoshimoto, Shunsuke and Cobb, Sue
    According to the concept of telexistence, even telexistence with scale conversion requires control of a robot to maintain the same attitude as that of the operator. However, a mismatch arises between the posture of a person and that of a robot because gravity between the operator and the robot is not subjectively equivalent. Our previous research demonstrated the motion of standing from a sitting position in telexistence with scale conversion using a dynamic control method, which can subjectively achieve the equivalent gravity condition between operator and robot. Acceleration in the forward direction is required to move from a standing position to walking at a constant speed. However, the moment compensation device does not consider the motion that produces acceleration in the forward direction. In this research, we achieve the equivalent gravity state without using a moment compensation device and verify the feasibility of generating walking motion from a standing position.