Motion control algorithm of ARM-COMS for entrainment enhancement

Abstract

It is very common nowadays to communicate with a remote person over the network, using a free communication software. However, several drawbacks are pointed out as open issues, such as lack of tele-presence or lack of entrainment in communication. This study proposes an idea of remote individuals’ connection through augmented tele-presence systems called ARM-COMS: ARm-supported eMbodied COmmunication Monitor System and tackles these issues. ARM-COMS is composed of a tablet as an ICT (Information and Communication Technology) device and a desktop-type robotic arm, which manipulates the tablet. ARM-COMS is based on the two types of modes, or intelligent tablet mode (IT-mode) and intelligent avatar mode (IA-mode). Under these modes, ARM-COMS has three types of functions; namely, autonomous positioning (AP), autonomous entrainment movement (AEM), and autonomous entrainment positioning (AEP). This paper presents the basic concept of ARM-COMS and its critical challenges, followed by the experimental analysis of motion control to check the feasibility of AEM function of ARM-COMS.