Telexistence is a fundamental concept which refers to the general technology that enables a human being to have the real-time sensation of being at a place other than where he or she actually exists, while being able to interact with the remote environment, which may be real, virtual, or a combination of both. It also refers to an advanced type of teleoperation system that enables an operator at the control to perform remote tasks dexterously with the feeling of existing in a surrogate robot working in a remote environment. Telexistence in the real remote environment through a virtual environment is also possible.Written by the originator of the term, Telexistence explains how this concept can be realized, illustrates precisely real examples of the realization of the concept, and determines its future advancement. This book is the second edition of the original Telexistence. New contents cover recent advancements of the technology in areas such as human augmentation, autostereoscopy, tangible visuo-haptic 3D display, face-to-face communication, and haptic sensations and technologies.Case studies of the mobile mutual telexistence system TELESAR IV and haptic telexistence avatar system TELESAR V are also included.
About the Author v
Preface vii
1 Virtual Reality and Telexistence 1 (14)
1.1 What is Telexistence and What is Virtual 1 (1)
Reality
1.2 Telexistence in the Real World and in 2 (5)
Virtual Worlds
1.2.1 Telexistence in the Real World 3 (2)
1.2.2 Telexistence in Virtual Worlds 5 (1)
1.2.3 Applications of Telexistence 6 (1)
1.3 Organization of Telexistence and/or 7 (2)
Virtual Reality Systems
1.4 Virtual Reality as a Human Tool for 3Cs 9 (3)
and 3Es
1.4.1 Control 9 (1)
1.4.2 Communication 10 (1)
1.4.3 Creation 11 (1)
1.4.4 Experience/Education 11 (1)
1.4.5 Elucidation 11 (1)
1.4.6 Entertainment 11 (1)
1.5 Virtual Reality Convergence 12 (3)
2 Generations and Design Philosophies of Robots 15 (17)
2.1 Generations of Robots 15 (4)
2.2 Design Philosophies in Robotics 19 (4)
2.3 Human Augmentation 23 (9)
2.3.1 Sensory Augmentation 26 (1)
2.3.2 Intellectual Augmentation 27 (1)
2.3.3 Motion Augmentation 28 (1)
2.3.4 Space/Time Augmentation 29 (3)
3 Telexistence 32 (21)
3.1 Short History of Telexistence 32 (6)
3.2 Augmented Telexistence 38 (1)
3.3 R-Cubed 39 (3)
3.4 Humanoid Robotics Project: HRP 42 (7)
3.5 Mutual Telexistence Communication System: 49 (2)
TELESAR II & IV
3.6 Telexistence Avatar Robot System: TELESAR 51 (2)
V
4 Fundamental Technologies for Telexistence 53 (59)
4.1 Telexistence Visual Display 53 (19)
4.1.1 Design Concept of Telexistence Visual 53 (3)
Display
4.1.2 Design Method and Procedures of 56 (4)
Telexistence Visual Display
4.1.3 Visual Display Prototypes 60 (4)
4.1.3.1 Visual Display Unit 60 (1)
4.1.3.2 Experimental Visual Display System 60 (4)
4.1.4 Evaluation of the Visual Display 64 (8)
4.1.4.1 Horopters and Their Expression 64 (4)
4.1.4.2 Experiment 68 (4)
4.1.5 Summary 72 (1)
4.2 Mobile Telexistence System 72 (9)
4.2.1 System Configuration 73 (3)
4.2.2 Experiments 76 (2)
4.2.3 Summary 78 (3)
4.3 Design and Quantitative Evaluation of 81 (12)
Telexistence Manipulation System
4.3.1 Telexistence Manipulation System 81 (4)
4.3.2 Manipulation Experiments 85 (8)
4.3.3 Summary 93 (1)
4.4 Construction of Virtual Haptic Space 93 (8)
4.4.1 Construction Method for 94 (4)
Encounter-Type Virtual Haptic Space
4.4.1.1 Active Environment Display 95 (1)
4.4.1.2 Shape Approximation Device 96 (2)
4.4.2 Test Hardware 98 (1)
4.4.3 Summary 99 (2)
4.5 Electrocutaneous Communication 101(11)
4.5.1 Perceived Magnitude Sensation 103(5)
4.5.2 Channel Capacity 108(1)
4.5.3 Phantom Sensation 109(3)
5 Retroreflective Projection Technology (RPT) 112(12)
5.1 Principle of Retroreflective Projection 113(4)
Technology
5.2 RPT-Based Head Mounted Projector 117(2)
5.3 RPT Applications 119(5)
6 Mutual Telexistence Using RPT 124(34)
6.1 Mutual Telexistence 124(3)
6.2 Experimental Hardware System 127(6)
6.2.1 Preliminary Mutual Telexistence 128(4)
Hardware System
6.2.2 Summary 132(1)
6.3 Mutual Telexistence Master祐lave System 133(25)
for Communication
6.3.1 Telexistence Surrogate 137(4)
Anthropomorphic Robot II
6.3.1.1 Slave Robot Arm 137(2)
6.3.1.2 Slave Robot Hand 139(2)
6.3.2 Telexistence Cockpit 141(7)
6.3.2.1 Master Arm 141(2)
6.3.2.2 Master Hand 143(5)
6.3.2.3 3D Display System 148(1)
6.3.3 RPT Viewer System 148(1)
6.3.4 Feasibility Experiments 149(7)
6.3.5 Summary 156(2)
7 Telexistence Communication Using TWISTER: 158(46)
Telexistence Wide-angle Immersive STEReoscope
7.1 Face-to-Face Communication 158(2)
7.2 Concept of Mutual Telexistence Using 160(1)
TWISTER
7.3 Development of TWISTER 161(1)
7.4 Principles of TWISTER 162(18)
7.4.1 Movable Parallax Barrier 162(3)
7.4.2 Rendering 165(1)
7.4.3 Image Capture 166(2)
7.4.4 Capture and Display 168(5)
7.4.5 Robotic Mutual Telexistence Using 173(1)
TWISTER
7.4.6 Omnistereo Camera System for TWISTER 174(6)
7.5 Face-to-Face Telexistence Communication 180(12)
using TWISTER Booths
7.5.1 Omnidirectional 3D Audiovisual 180(1)
Presentation System
7.5.2 Virtual Environment and Avatars with 181(2)
Physicality
7.5.3 Three-Dimensional Facial Capture 183(2)
System
7.5.4 Motion Capture System 185(2)
7.5.5 Integrated System 187(1)
7.5.6 Verification of the Telecommunication 188(4)
System
7.6 Mutual Telexistence Surrogate Robot 192(11)
System: TELESAR IV
7.6.1 General Design of TELESAR IV System 193(2)
7.6.2 TELESAR IV System Configuration 195(2)
7.6.3 Functional Experiments on TELEXSAR IV 197(4)
7.6.4 Total Demonstration and Summary on 201(2)
TELESAR IV
7.7 Summary 203(1)
8 Haptic VR and Haptic Telexistence 204(27)
8.1 Haptic Media 204(3)
8.2 Haptic Primary Color Model 207(2)
8.3 Haptic Information Display 209(5)
8.3.1 Normal/Tangential Force Display: 210(2)
Gravity Grabber
8.3.2 Vibration Sensor and Display: 212(1)
TECHTILE Toolkit
8.3.3 Thermal Sensor and Display 213(1)
8.4 Telexistence Avatar Robot System: TELESAR 214(7)
V
8.4.1 Development of 53-DOF Human-Size 215(1)
Anthropomorphic Robot
8.4.2 Development of Wide-Angle HD 216(2)
Stereovision System
8.4.3 Development of Thermal and Haptic 218(3)
Transfer System
8.5 Editing and Creation of Haptic Information 221(3)
8.5.1 Haptic Editor 222(1)
8.5.2 Tangible Visuo-Haptic 3D Display 223(1)
8.6 RePro3D: RPT-Based Full-Parallax 224(7)
Autostereoscopic 3D
9 Future Perspective 231(13)
9.1 Out-of-the-Body Experience 231(2)
9.2 Impact of Telexistence on Daily Life 233(2)
9.3 Open Problems of Telexistence 235(3)
9.4 Telexistence in the Future 238(3)
9.5 Telexistence and Society 241(3)
Appendix A. Figures in Color 244(15)
Bibliography 259(10)
Index 269
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