SyncArms: Gaze-driven target object-oriented manipulation for parallel operation of robot arms in distributed physical environments

Author

Kawamura, Koki and Kasahara, Shunichi and Fukuoka, Masaaki and Masai, Katsutoshi and Kondo, Ryota and Sugimoto, Maki

Abstract

Enhancing human capabilities through the use of multiple bodies has been a significant research agenda. When multiple bodies are synchronously operated in different environments, the differences in environment placement make it difficult to interact with objects simultaneously. In contrast, if automatic control is performed to complement the differences and to perform a parallel task, the mismatch between the user and robotic arm movements generates visuomotor incongruence, leading to a decline in embodiment across the body. This can lead to difficulty completing tasks or achieving goals, and may even cause frustration or anxiety. To address this issue, we have developed a system that allows a parallel operation of synchronized multiple robotic arms by assisting the arm towards which the user’s gaze is not directed while maintaining the sense of embodiment over the robotic arms.