Tele-operation assistance system and tele-operation assistance method

A tele-operation assistance system for remotely operating at least an end effector, comprising:

• a motion acquisition unit configured to acquire information on a motion of an operator operating at least the end effector;
• an intention understanding unit configured to estimate a target object to be operated by the end effector and a task which is a method of operating the target object by using the information acquired by the motion acquisition unit;
• an environmental situation determination unit configured to acquire environmental information of an environment in which the end effector is operated;
• and
• an operation amount determination unit configured to acquire information from the intention understanding unit and the environmental situation determination unit, and determine an operation amount of the end effector based on the acquired information,
• wherein the operation amount determination unit estimates an operation distance to the target object based on the information of the target object and the motion of the operator, determines an operation state of the end effector with respect to the target object according to the estimated operation distance, and changes an input mode of assistance to a tele-operation according to the operation state.