A collaborative multi-site teleoperation over an ISDN

Nak Young Chong, Tetsuo Kotoku, Kohtaro Ohba, Kiyoshi Komoriya, Kazuo Tanie, Junji Oaki, Hideaki Hashimoto, Fumio Ozaki, Katsuhiro Maeda, Nobuto Matsuhira

Research output: Contribution to journalArticle

16 Citations (Scopus)


We have developed an advanced infrastructure and technologies for collaborative remote operations, enabling multiple operators with large physical separation to control multiple slave robots in a common environment over the network. Human operators' delayed visual perception arising from communication time delays seriously affects the performance of collaborative multi-site operations and accordingly requires supplementary information locally available to operators irrespective of time delays. Few facilities exist to investigate remote multi-site operations, thus we have built an experimental test bed connecting Tsukuba and Kawasaki in Japan via an integrated services digital network. In particular, an on-line predictive graphics simulator is incorporated to cope with image feedback delays from the remote site. Specifically, exploiting audio-visual features of the simulator, operators can detect a priori the possibility of collision between robots and guide them towards task goal through time delays. To verify the validity of the simulator assisted approach, we have performed a demonstration of prototype plant maintenance in April 2000 between Tsukuba and Kawasaki.

Original languageEnglish
Pages (from-to)957-979
Number of pages23
Issue number8-9 SPEC.
Publication statusPublished - 2003 Oct


  • Integrated services digital network
  • Multi-site tele-collaboration
  • Predictive simulator
  • Time delay

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Chong, N. Y., Kotoku, T., Ohba, K., Komoriya, K., Tanie, K., Oaki, J., Hashimoto, H., Ozaki, F., Maeda, K., & Matsuhira, N. (2003). A collaborative multi-site teleoperation over an ISDN. Mechatronics, 13(8-9 SPEC.), 957-979. https://doi.org/10.1016/S0957-4158(03)00010-2