Telexistence

Preface	p. v
1 Virtual Reality and Telexistence	p. 1
1.1 What is Telexistence and What is Virtual Reality	p. 1
1.2 Telexistence in the Real World and in Virtual Worlds	p. 2
1.2.1 Telexistence in the Real World	p. 3
1.2.2 Telexistence in Virtual Worlds	p. 5
1.2.3 Applications of Telexistence	p. 6
1.3 Organization of Telexistence and/or Virtual Reality Systems	p. 7
1.4 Virtual Reality as a Human Tool for 3Cs and 3Es	p. 9
1.4.1 Control	p. 9
1.4.2 Communication	p. 10
1.4.3 Creation	p. 11
1.4.4 Experience/Education	p. 11
1.4.5 Elucidation	p. 11
1.4.6 Entertainment	p. 11
1.5 Virtual Reality Convergence	p. 12
2 Generations and Design Philosophies of Robots	p. 15
2.1 Generations of Robots	p. 15
2.2 Design Philosophies in Robotics	p. 19
3 Telexistence	p. 24
3.1 Short History of Telexistence	p. 24
3.2 Augmented Telexistence	p. 29
3.3 R-Cubed	p. 31
3.4 Humanoid Robotics Project: HRP	p. 34
4 Fundamental Technologies for Telexistence	p. 42
4.1 Telexistence Visual Display	p. 42
4.1.1 Design Concept of Telexistence Visual Display	p. 42
4.1.2 Design Method and Procedures of Telexistence Visual Display	p. 45
4.1.3 Visual Display Prototypes	p. 49
4.1.3.1 Visual Display Unit	p. 49
4.1.3.2 Experimental Visual Display System	p. 49
4.1.4 Evaluation of the Visual Display	p. 53
4.1.4.1 Horopters and Their Expression	p. 53
4.1.4.2 Experiment	p. 57
4.1.5 Summary	p. 61
4.2 Mobile Telexistence System	p. 61
4.2.1 System Configuration	p. 62
4.2.2 Experiments	p. 64
4.2.3 Summary	p. 70
4.3 Design and Quantitative Evaluation of Telexistence Manipulation System	p. 70
4.3.1 Telexistence Manipulation System	p. 70
4.3.2 Manipulation Experiments	p. 75
4.3.3 Summary	p. 82
4.4 Construction of Virtual Haptic Space	p. 82
4.4.1 Construction Method for Encounter-Type Virtual Haptic Space	p. 83
4.4.1.1 Active Environment Display	p. 85
4.4.1.2 Shape Approximation Device	p. 86
4.4.2 Test Hardware	p. 87
4.4.3 Summary	p. 90
5 Retroreflective Projection Technology (RPT)	p. 92
5.1 Principle of Retroreflective Projection Technology	p. 93
5.2 RPT-Based Head Mounted Projector	p. 97
5.3 RPT Applications	p. 99
6 Mutual Telexistence Using RPT	p. 104
6.1 Mutual Telexistence	p. 104
6.2 Experimental Hardware System	p. 107
6.2.1 Preliminary Mutual Telexistence Hardware System	p. 108
6.2.2 Summary	p. 112
6.3 Mutual Telexistence Master-Slave System for Communication	p. 113
6.3.1 Telexistence Surrogate Anthropombrphic Robot II	p. 117
6.3.1.1 Slave Robot Arm	p. 117
6.3.1.2 Slave Robot Hand	p. 119
6.3.2 Telexistence Cockpit	p. 121
6.3.2.1 Master Arm	p. 121
6.3.2.2 Master Hand	p. 123
6.3.2.3 3D Display System	p. 128
6.3.3 RPT Viewer System	p. 128
6.3.4 Feasibility Experiments	p. 129
6.3.5 Summary	p. 135
7 Telexistence Communication Using Twister: Telexistence Wide-angle Immersive STEReoscope	p. 137
7.1 Face-to-Face Communication	p. 137
7.2 Concept of Mutual Telexistence Using Twister	p. 139
7.3 Development of Twister	p. 140
7.4 Principles of Twister	p. 141
7.4.1 Movable Parallax Barrier	p. 141
7.4.2 Rendering	p. 144
7.4.3 Image Capture	p. 145
7.4.4 Capture and Display	p. 147
7.4.5 Robotic Mutual Telexistence Using: Twister	p. 152
7.4.6 Omnistereo Camera System for Twister	p. 153
7.5 Summary	p. 159
8 Future Perspective	p. 160
8.1 Out-of-the-Body Experience	p. 160
8.2 Impact of Telexistence on Daily Life	p. 162
8.3 Open Problems of Telexistence	p. 164
8.4 Telexistence in the Future	p. 167
8.5 Telexistence and Society	p. 170
Appendix A Color Figures	p. 173
Bibliography	p. 181
About the Author	p. 189
Index	p. 191

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