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JRM Vol.1 No.2 pp. 116-123
doi: 10.20965/jrm.1989.p0116
(1989)

Development Report:

Development of Power-Assisted Head-Coupled Display System for Tele-Existence

Hirohiko Arai and Susumu Tachi

Man-Machine Systems Div., Robotics Dept., Mechanical Engineering Laboratory, AIST, MITI, 1-2 Namiki, Tsukuba, Ibaraki 305, Japan

Published:
August 20, 1989
Keywords:
Tele-existence, Head-coupled display, Inertia compensation, Direct-drive motor
Abstract

In this report, a power-assisted head-coupled display system for tele-existence is presented, in which the motion of camera and display is enhanced to 2 d.o.f. of yaw and pitch. The main display module is composed of light-weight color liquid crystal displays. The 2 d.o.f. power-assistance system using D.D. motors compensates inertial force including Coriolis’ and centrifugal force and helps the operator manipulate the display by his head movement. In order to use a medium resolution rotary encoder to control the D.D. motor, the angular velocity is measured with interval of pulses. Second order digital filters are used to eliminate high frequency noise and resonant oscillations.

Cite this article as:
H. Arai and S. Tachi, “Development of Power-Assisted Head-Coupled Display System for Tele-Existence,” J. Robot. Mechatron., Vol.1, No.2, pp. 116-123, 1989.
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