Evaluation System for Hydraulic Excavator Operation Skill Using Remote Controlled Excavator and Virtual Reality We developed a system to evaluate the skill of operating a hydraulic excavator using a remotely controlled (RC) excavator and virtual reality (VR) technology. We remodeled the RC excavator such that it can be operated in the same manner as an actual excavator, and proceeded to measure the excavatorxe2x80x99s state. To evaluate the skill of operating this system, we calculated several indices from data recorded during excavation work. We calculated the same indices from data recorded during excavation performed by an actual excavator, and verified that there exists a high correlation between the indices of the RC excavator and those of the actual excavator.

AeroVr: Virtual Realitybased Teleoperation with Tactile Feedback for Aerial Manipulation Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and ecommerce. Most of such applications require teleoperation. The operator receives visual feedback from the camera installed on a robot arm or drone. As aerial manipulation requires delicate and precise motion of robot arm, the camera data delay, narrow field of view, and blurred image caused by drone dynamics can lead the UAV to crash. The paper focuses on the development of a novel teleoperation system for aerial manipulation using Virtual Reality (VR). The controlled system consists of UAV with a 4 DoF robotic arm and embedded sensors. VR application presents the digital twin of drone and remote environment to the user through a headmounted display (HMD). The operator controls the position of the robotic arm and gripper with VR trackers worn on the arm and tracking glove with vibrotactile feedback. Control data is translated directly from VR to the real robot in realtime. The experimental results showed a stable and robust teleoperation mediated by the VR scene. The proposed system can considerably improve the quality of aerial manipulations.