A Low Cognitive Load and Reduced Motion Sickness Inducing Zoom Method Based on Typical Gaze Movement for Master-Slave Teleoperation Systems with HMD

Mizukoshi, Yuichi; Hashimoto, Kenji; Takanishi, Atsuo; Iwata, Hiroyasu; Satō, Reiko; Eto, Takahiro; Kamezaki, Mitsuhiro; Matsuzaka, Ayaka; Liu, Yang; Namiki, Akio; Imai, Atsushi; Matsuyama, Takashi

doi:10.1109/sii46433.2020.9026260

Cited by 5 publications

(6 citation statements)

References 14 publications

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“…visual system, vestibular system, proprioceptors) are either in conflict with one another or else strongly violate expectations based on previous experience [44]. Therefore, conflict reduction is essential to avoid motion sickness [45]. In order to reduce motion sickness, Mizukoshi et al [45] developed a scaling method for master-slave remote control systems based on the gaze motion of the head towards or away from the object.…”

Section: Visually Induced Motion Sicknessmentioning

confidence: 99%

A review on ergonomics evaluations of virtual reality

Chen

2023

WOR

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BACKGROUND: Virtual reality (VR) is a combination of technologies that allow the user to interact with a computer-simulated environment with the experience of immersion, interactivity, and imagination. However, ergonomic problems related to virtual reality have adverse effects on the health and experience of users, which restrict the application of virtual reality technology. OBJECTIVE: The paper aims to provide an overview of the ergonomics evaluation of VR for further development of software and hardware of VR. METHODS: This paper describes and discusses the ergonomics issues involved in the software and hardware of VR from three aspects: visual, physiological, and cognitive. The paper also summarizes the research methods and evaluation metrics. RESULTS: Many attempts have been made to study ergonomics issues of VR, mainly including pressure, muscle fatigue, thermal comfort, visual fatigue, and motion sickness. Ergonomics studies are very valuable for research related to virtual reality. There is a summary table that lists the main evaluation metrics and methods. CONCLUSIONS: According to current research, this review gives three recommendations for further research on VR, which will be helpful for further human-centered research and design work within the VR industry.

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Section: Visually Induced Motion Sicknessmentioning

confidence: 99%

A review on ergonomics evaluations of virtual reality

Chen

2023

WOR

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“…Visual feedback incorporating monocular vision with the display monitor accounted for significantly higher perceived workload than stereoscopic vision seen through the virtual reality head-mounted displays. In an attempt to provide detailed frame of view for precise teleoperation, Mizukoshi et al (2020) investigated the use of an automatic zoom method to improve teleoperation performance. This method ensures that images were zoomed when a robot arm entered a work area, but as a result of lack of consideration for the intentions of teleoperators as well as zoom levels, resultant effects of high cognitive workload and motion sickness occurred ( Mizukoshi et al, 2020 ).…”

Section: Related Workmentioning

confidence: 99%

“…In an attempt to provide detailed frame of view for precise teleoperation, Mizukoshi et al (2020) investigated the use of an automatic zoom method to improve teleoperation performance. This method ensures that images were zoomed when a robot arm entered a work area, but as a result of lack of consideration for the intentions of teleoperators as well as zoom levels, resultant effects of high cognitive workload and motion sickness occurred ( Mizukoshi et al, 2020 ). The study carried out by Wang et al (2018) highlights the importance of considering human-centric metrics in the design of teleoperation strategies.…”

Section: Related Workmentioning

confidence: 99%

Assessing the Role of Gaze Tracking in Optimizing Humans-In-The-Loop Telerobotic Operation Using Multimodal Feedback

et al. 2021

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A key challenge in achieving effective robot teleoperation is minimizing teleoperators’ cognitive workload and fatigue. We set out to investigate the extent to which gaze tracking data can reveal how teleoperators interact with a system. In this study, we present an analysis of gaze tracking, captured as participants completed a multi-stage task: grasping and emptying the contents of a jar into a container. The task was repeated with different combinations of visual, haptic, and verbal feedback. Our aim was to determine if teleoperation workload can be inferred by combining the gaze duration, fixation count, task completion time, and complexity of robot motion (measured as the sum of robot joint steps) at different stages of the task. Visual information of the robot workspace was captured using four cameras, positioned to capture the robot workspace from different angles. These camera views (aerial, right, eye-level, and left) were displayed through four quadrants (top-left, top-right, bottom-left, and bottom-right quadrants) of participants’ video feedback computer screen, respectively. We found that the gaze duration and the fixation count were highly dependent on the stage of the task and the feedback scenario utilized. The results revealed that combining feedback modalities reduced the cognitive workload (inferred by investigating the correlation between gaze duration, fixation count, task completion time, success or failure of task completion, and robot gripper trajectories), particularly in the task stages that require more precision. There was a significant positive correlation between gaze duration and complexity of robot joint movements. Participants’ gaze outside the areas of interest (distractions) was not influenced by feedback scenarios. A learning effect was observed in the use of the controller for all participants as they repeated the task with different feedback combination scenarios. To design a system for teleoperation, applicable in healthcare, we found that the analysis of teleoperators’ gaze can help understand how teleoperators interact with the system, hence making it possible to develop the system from the teleoperators’ stand point.

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“…Furthermore, perceived workload is affected by the degree of discrepancy between remote operation conditions and those that would be experienced when driving a vehicle (Mizukoshi et al 2020). Specifically, by reducing such discrepancy, the operators' perceived workload would be reduced, even in complex situations.…”

Section: Workloadmentioning

confidence: 99%

“…On the contrary, when (Chen 2015) investigated if using 3D displays (and VR) would reduce VIMS, no significant improvements were observed compared with traditional 2D displays. Mizukoshi et al (2020) argued that VIMS could be significantly reduced by providing the freedom to adjust the image they are shown on the displays. Specifically, operators would have the opportunity to zoom in on specific areas in the environment, while controlling the zooming speed.…”

Section: Motion Sicknessmentioning

confidence: 99%

Remote operation of Connected and Automated Vehicles

Kalaiyarasan¹,

Simpson²,

Jenkins³

et al. 2021

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Connected and Automated Vehicles (CAVs) offer numerous societal benefits; however, there is still a long way to go before CAVs can be considered reliable and safe. Even when CAV technology has matured, and is more readily available, there will be scenarios that require human intervention such as system failures, situations outside of the AV’s Operational Design Domain (ODD), or to support users. As part of project Endeavour, TRL conducted research on potential human intervention scenarios, which has been considered and referred to as a part of ‘remote operation’. This study sought to understand the current roles of the in-vehicle Safety Driver and Test Assistant during CAV trials and testing to recognise the technical challenges of removing the roles and enabling remote operation. This report includes findings from a literature review and stakeholder engagement and contains: Information on the roles and responsibilities of the in-vehicle Safety Driver and Test Assistant and their remote counterparts Current terminology used in the CAV space, and recommended terms for remote operation Use cases and recommendations to enable safe remote operation A high-level roadmap describing the milestones to enable remote operation in the UK

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A Low Cognitive Load and Reduced Motion Sickness Inducing Zoom Method Based on Typical Gaze Movement for Master-Slave Teleoperation Systems with HMD

Cited by 5 publications

References 14 publications

A review on ergonomics evaluations of virtual reality

A review on ergonomics evaluations of virtual reality

Assessing the Role of Gaze Tracking in Optimizing Humans-In-The-Loop Telerobotic Operation Using Multimodal Feedback

Remote operation of Connected and Automated Vehicles

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