Background: It is known that the work efficiency of teleoperated construction machinery is lower than that of\ndirectly operated machinery. Assistance via automatic control is expected to improve the work efficiency. However,\nthis assistance might break the feeling of control and prohibit control adjustments by the operator.\nMethods: We propose a semiautomatic system that fuses manual and automatic operation while maintaining\nthe same feeling of control as manual operation. The assistance approach to the working trajectory is based on the\nassumption of the existence of an ideal trajectory for the hoist swing that is a major component of an excavator. We\nevaluate the feeling of control using a sense of agency.\nResults: The results of an examination using a miniature excavator show that the assistance improved the perspective\nerror from manual with a high sense of agency.\nConclusions: Therefore proposed assistance was effective during teleoperation without a sense of perspective
Loading....