3D interaction technique to enhance telemanipulation tasks using virtual environment

Abstract

This paper gives preliminary results about the utilization of an interaction technique called FOLLOW-ME to fasten the selection task for teleoperation system. The implementation of an interaction between a user and a Virtual Environment (VE) in Virtual Reality (VR) may use various techniques. However, in the case of teleoperation, the interaction must be very precise and comfortable for the user. The model associated to the FOLLOW-ME technique splits the Virtual Environment into three zones in which a specific interaction model is used: a free manipulation zone, a scaled manipulation zone and a precise manipulation zone. Each one of the three zones is characterized by a specific interaction granularity. In the precise manipulation zone, we use the concept of virtual guides in order to assist the user to achieve his task. In this paper, our aim is to show that the FOLLOW-ME technique is well suited for selection in teleoperation tasks. To do this, we have first compared the FOLLOW-ME technique with classical interaction techniques in a virtual environment where different targets are situated at different depth and may move. The preliminary results show that our technique is more efficient than the classical Go-Go and Ray-casting techniques, in a sense that the task is more reproducible and easier to accomplish by the user. In a second stage, we use this result to design selection procedures for the ARITI tele-operation system and show that the use of FOLLOW-ME induces benefits for the user.

A Distributed Architecture for Collaborative Teleoperation using Virtual Reality and Web Platforms

“…In order to help the HO to control the robot and achieve a complex teleoperation task, an interactive assistance is given to him, which is a Virtual Fixtures (VF) intervention in the operation area. These VF appear and disappear as the robot's peg comes closer or away from the objects to be manipulated [12]. This type of virtual fixtures appears according to the kind of tasks that had already been achieved.…”

Robotics‐based telepresence using multi‐modal interaction for individuals with visual impairments

“…The ability of these tools to transfer tactile and textural sensations along with force feedback adds another dimension of interaction between the human and the system. Haptics is a mature field of engineering research, with varying applications in the medical field [11,12], rehabilitation [12,13], virtual reality [14], and teleoperation [6,[15][16][17][18]. Its ability to transfer tactile and textural sensations along with force feedback adds another dimension of interaction between the human and the system and has showed positive results even for assistive technology [13,14].…”

Evaluation of a method for intuitive telemanipulation based on view-dependent mapping and inhibition of movements

“…In many systems the teleoperation process is divided into different phases that reflect different levels of autonomy, e. g. a free motion phase with direct control, constrained motion control where only specific parameters or degrees of freedom are directly operated by the user while the system controls the others, or certain conditions that result in the rest of the task being executed autonomously [2] [3].…”