Evaluation of Immersive Teleoperation Systems using Standardized Tasks and Measurements

Illing, Boris; Westhoven, Martin; Gaspers, Bastian; Smets, N.J.J.M.; Brüggemann, Bernd; Mathew, Tintu

doi:10.1109/ro-man47096.2020.9223497

Cited by 8 publications

(3 citation statements)

References 42 publications

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“…The head-mounted display was also equipped with an integrated head tracker, which controlled the robot's motion so that the cameras would follow the operator's head movements. Illing et al [6,44] reported a study on the effect of different optoelectronic systems on teleoperation and the use of optional VE scenes and virtual robot models for unmanned ground vehicle (UGV) teleoperation. Aykut et al [45,46] proposed a 3D 360 • telepresence system implemented by a mechanically driven stereo vision system, with a head unit to follow the user's head movement.…”

Section: Movable Telepresence Robots (Mtrs)mentioning

confidence: 99%

“…In traditional mixed-reality remote collaboration, the video capture device is typically placed in a fixed position in the local environment [4] or on a local user's HMD [5], providing a fixed perspective or the local user's first-person view of the local environment, and remote users cannot actively and freely switch views. In recent research on remote presentations, researchers have mainly deployed video capture devices on wheeled robots [6][7][8] or drones [9,10], allowing remote users to move the viewing perspective by operating these devices. However, these systems have limitations in terms of control freedom and accuracy, which prevent remote users from freely and accurately observing the local environment.…”

Section: Introductionmentioning

confidence: 99%

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Viewpoint-Controllable Telepresence: A Robotic-Arm-Based Mixed-Reality Telecollaboration System

Luo

Weng

Hao

et al. 2023

Sensors

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In mixed-reality (MR) telecollaboration, the local environment is remotely presented to a remote user wearing a virtual reality (VR) head-mounted display (HMD) via a video capture device. However, remote users frequently face challenges in naturally and actively manipulating their viewpoints. In this paper, we propose a telepresence system with viewpoint control, which involves a robotic arm equipped with a stereo camera in the local environment. This system enables remote users to actively and flexibly observe the local environment by moving their heads to manipulate the robotic arm. Additionally, to solve the problem of the limited field of view of the stereo camera and limited movement range of the robotic arm, we propose a 3D reconstruction method combined with a stereo video field-of-view enhancement technique to guide remote users to move within the movement range of the robotic arm and provide them with a larger range of local environment perception. Finally, a mixed-reality telecollaboration prototype was built, and two user studies were conducted to evaluate the overall system. User study A evaluated the interaction efficiency, system usability, workload, copresence, and user satisfaction of our system from the remote user’s perspective, and the results showed that our system can effectively improve the interaction efficiency while achieving a better user experience than two traditional view-sharing techniques based on 360 video and based on the local user’s first-person view. User study B evaluated our MR telecollaboration system prototype from both the remote-user side and the local-user side as a whole, providing directions and suggestions for the subsequent design and improvement of our mixed-reality telecollaboration system.

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Section: Movable Telepresence Robots (Mtrs)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Viewpoint-Controllable Telepresence: A Robotic-Arm-Based Mixed-Reality Telecollaboration System

Luo

Weng

Hao

et al. 2023

Sensors

View full text Add to dashboard Cite

show abstract

“…The mismatch between the range of user control space and the limits of input device workspace can increase the difficulty of telemanipulation and lead to poor operation [29,30]. Another disadvantage of typical telerobotic systems is the lack of depth perception due to monocular, 2D visualization of the remote site [31][32][33], limiting operator performance [34,35] and any feelings of immersion and telepresence in the remote workspace [36,37].…”

Section: Intuitive and Natural Teleoperationmentioning

confidence: 99%

Integrating Virtual, Mixed, and Augmented Reality into Remote Robotic Applications: A Brief Review of Extended Reality-Enhanced Robotic Systems for Intuitive Telemanipulation and Telemanufacturing Tasks in Hazardous Conditions

Su,

Chen,

Zhou

et al. 2023

Applied Sciences

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There is an increasingly urgent need for humans to interactively control robotic systems to perform increasingly precise remote operations, concomitant with the rapid development of space exploration, deep-sea discovery, nuclear rehabilitation and management, and robotic-assisted medical devices. The potential high value of medical telerobotic applications was also evident during the recent coronavirus pandemic and will grow in future. Robotic teleoperation satisfies the demands of the scenarios in which human access carries measurable risk, but human intelligence is required. An effective teleoperation system not only enables intuitive human-robot interaction (HRI) but ensures the robot can also be operated in a way that allows the operator to experience the “feel” of the robot working on the remote side, gaining a “sense of presence”. Extended reality (XR) technology integrates real-world information with computer-generated graphics and has the potential to enhance the effectiveness and performance of HRI by providing depth perception and enabling judgment and decision making while operating the robot in a dynamic environment. This review examines novel approaches to the development and evaluation of an XR-enhanced telerobotic platform for intuitive remote teleoperation applications in dangerous and difficult working conditions. It presents a strong review of XR-enhanced telerobotics for remote robotic applications; a particular focus of the review includes the use of integrated 2D/3D mixed reality with haptic interfaces to perform intuitive remote operations to remove humans from dangerous conditions. This review also covers primary studies proposing Virtual Reality (VR), Augmented Reality (AR), and Mixed Reality (MR) solutions where humans can better control or interact with real robotic platforms using these devices and systems to extend the user’s reality and provide a more intuitive interface. The objective of this article is to present recent, relevant, common, and accessible frameworks implemented in research articles published on XR-enhanced telerobotics for industrial applications. Finally, we present and classify the application context of the reviewed articles in two groups: mixed reality–enhanced robotic telemanipulation and mixed reality–enhanced robotic tele-welding. The review thus addresses all elements in the state of the art for these systems and ends with recommended research areas and targets. The application range of these systems and the resulting recommendations is readily extensible to other application areas, such as remote robotic surgery in telemedicine, where surgeons are scarce and need is high, and other potentially high-risk/high-need scenarios.

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Saccade response testing during teleoperations with a head-mounted display

Zhang,

Hansen,

Behrens

et al. 2024

Cogn Tech Work

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Evaluation of Immersive Teleoperation Systems using Standardized Tasks and Measurements

Cited by 8 publications

References 42 publications

Viewpoint-Controllable Telepresence: A Robotic-Arm-Based Mixed-Reality Telecollaboration System

Viewpoint-Controllable Telepresence: A Robotic-Arm-Based Mixed-Reality Telecollaboration System

Integrating Virtual, Mixed, and Augmented Reality into Remote Robotic Applications: A Brief Review of Extended Reality-Enhanced Robotic Systems for Intuitive Telemanipulation and Telemanufacturing Tasks in Hazardous Conditions

Saccade response testing during teleoperations with a head-mounted display

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