Intuitive teleoperation by micro dome system

In this study, a novel teleoperation through a spherical display is discussed in the framework of mixed reality. From the viewpoint of the recognition of environment and the maneuverability of teleoperator, it is desired that one should be able to deal with the teleoperation like the usual operation and get the feeling of directly manipulating objects by the tool. This study accomplishes this goal by reconstructing the slave environment into a compact spherical display at the master side and realizing accurate visual/haptic registration. The validity of proposed system is demonstrated by experiments of teleoperation.