Maneuvering Assistance of Teleoperation Robot Based on Identification of Gaze Movement Narrow angle of view and the time delay of command make operation of a teleoperation robots difficult. In order to solve this problem, a teleoperation system utilizing the followings is presented in this paper: measurement of operatorxe2x80x99s gaze movement, estimation of gaze point, and the saliency of monitor image proposes. In this system, operatorxe2x80x99s future gaze target beyond several seconds is estimated using the gaze motion model and an estimated gaze region from probability of saliency map. This paper introduces the configuration of the support system, modeling of gaze movement, generation of the probability of saliency map, and measurement  analysis in robot maneuver preliminary experiment.

Preliminary Evaluation of an Orbital Camera for Teleoperation of Remote Manipulators Conventional teleoperative interfaces, used for remote manipulation in the nuclear industry, utilise multiple stationary CCTV cameras for situational awareness. This is cognitively challenging for the human operator, who must mentally combine information from multiple 2D views, before attempting 3D reasoning about the remote environment. To enhance performance on telemanipulation tasks, this paper explores the merits of employing an orbital camera view. The orbital cameraxe2x80x99s gaze direction is automatically fixated towards the robotxe2x80x99s moving endeffector. Meanwhile, the camera can be controlled by the operator to move on a spherical surface around the endeffector, in addition to zooming capability. The robotxe2x80x99s Cartesian motion coordinates are also continuously transformed to be controllable with respect to the axes of the orbital camera view. Human testsubject experiments were conducted in a simulation environment using novice robot operators, and a variety of metrics were collected. Although the results do not show an objective difference between the camera modes, participant interviews suggest the orbital camera is the preferred method for visual feedback with its dynamic views helping to overcome positioning difficulties associated with stationary cameras. The experiment also revealed significant confounding factors that contributed to the results being inconclusive. These are discussed and recommendations are made for future empirical experiments to evaluate such systems.