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C-20

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Engage/Disengage: Control Triggers for Immersive Virtual and Robotic Avatars

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ABSTRACT Teleoperation encompasses the use of software and hardware interfaces to remotely control mechanical devices. In such teleoperational systems, the success of the task often relies on the factors of high-fidelity command/responses, low latency, and accurate or high-resolution feedback. Ideally, a telepresence humanoid robotic system, which faithfully replicates the operator⢠A´Zs gesture and accurately relays sensory feedback to the operator, should achieve tele-embodiment and reciprocally enable an immersive sense of presence for the remote operator. In this paper, we propose and explore the feasibility of an EMG-based control interface for disengagement from a fully immersive humanoid telepresence robot. Our control interface enables a human operator to disengage from an embodied robotic or virtual avatar – where the operator is manually and verbally constrained by the avatar⢠A´Zs replication of the operator⢠A´Zs gestures. Our system makes use of a support vector machine (SVM) classifier, with 94