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
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.