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Study on prediction errors caused by image zooming in execution phase of remote operation and possibility of compensation

In this study, how to improve usability and quality of the remote participation experience using remote-controlled robots to support the active social participation of people who have mobility issues were investigated. Specifically, to reduce the prediction error caused when using remote-controlled robots revealed in the previous study and thus the burden of the remote operation, a series of experimental results was discussed. In these experiments, the error between the stop position of the robot that cannot be directly seen on the robotic perspective image and the target position was measured. The results show that (1) the zooming image from the robotic perspective during the execution phase induces a negative prediction error. The error might be caused when the information of the current position of the robot is inconsistent with that of the stop position. This result is an extension of our previous study. (2) The above situation needs to be considered because it is assumed in the application of remote operations using robots, such as the need to observe the target information in detail like face-to-face communication. (3) Depth cognition is important for remote control using images from the robotic perspective, and it was found that the information of the optic flow, which was thought to affect the depth motion perception involuntarily, significantly affected the size cue regarding the target position.