VR training system with adaptive operational assistance considering straight-line transfer operation

This paper deals with an operational assistance system of a rough terrain crane. A proper control rule to operate the payload in the straight-line motion is proposed. The system assists straight-line operation with force display based on the rule. The strength of assistance can be adapted to operator's skill level by changing the gain of force display. We present some experiments on a crane simulator, and show the effectiveness of the proposed operational assistance system.