The Telepresence
Mobile Robot System

SYSTEM OVERVIEW

The Telepresence Mobile Robot System enables a visitor to see through the eyes of a robot. Whether stationary or fully mobile (see options A & B) the telerobot is equipped with two camera "eyes", the output of which is displayed on a specialized viewer.

The basic telerobot system has three primary components: a computer- controlled stereo camera system, a fixed-mount viewer, and a communications/interface package. From a fixed viewing location, users see a life-sized, stereoscopic image of a remote location from the viewpoint of the telerobot. The viewpoint of the telerobot is controlled by means of a head- coupled viewer. As the visitor moves the head-coupled Binocular Omni- Orientation Monitor (BOOM) viewer, the "eyes" of the camera platform are likewise oriented providing the visitor with a persepective from the telerobot point of view.

Optional modifications to the telerobot are available that can provide the ability for the visitor to explore a remote location and to interact with other visitors. This includes a battery-powered, mobility platform for the telerobot that users can control through a simple joystick interface. Additional features can be added to provide wireless communication between viewer and telerobot, and a custom optical dome surrounding the camera system to ensure safe operation in the remote environment. In all configurations, additional color video monitors can be located in the installation for other participants to observe the telerobot's changing viewpoint.

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TELEROBOT: BASIC FEATURES

Camera System
- Two lightweight color CCD cameras
- Wide-angle, orthoscopic lenses matched to viewing lenses for correct size and scale representation
- Computer-controlled three degree of freedom camera platform with performance to match typical head motion speed and dynamics
Viewer
- A fixed-mount telepresence-viewer support with six degrees of freedom and optical encoder-based tracking capability for viewpoint control
- A telepresence viewer with wide-angle, orthoscopic lenses and high- resolution monochromatic or Color CRT displays
Communications/Interface Package
- 386-based host computer to communicate viewpoint information between the telepresence viewer and the camera system
- Control software to support viewer/camera communication
- Intercom system for communication between viewer and other visitors in the entertainment center
- Cable communications link between viewing station and remote camera

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TELEROBOT: OPTIONAL CAPABILITIES

Features that can be added to the system at additional cost:

A. Mobility Platform

A platform to support smooth camera-system movement at a constant speed to facilitate location in the remote environment
A platform designed to be structurally durable and easily moved
Custom safety features and enclosures to protect operator and others who may come in contact with the device

B. Wireless Remote

Remote wireless capability which eliminates necessity for tether cable
Provides link for RS-232 data and stereo video signals

C. Outdoor Installation Kit

Weatherproof housing for camera platform

D. Binaural Sound

Binaural microphone unit mounted on remote camera system to provide realtime, 3-D sound feedback from remote location.

E. Package Design

Overall package design to develop personality and character of remote system for public installation

F. User Interface Enhancements

Computer graphics overlay technology to provide additional level of interactivity and interest.
Design and implementation of software for computer-based agents and user-modeling capabilities to enhance funtionality.

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All contents copyright (C) 1995 Telepresence Research, Inc.
All rights reserved

Revised: 2-20-95