Interface Transparency Issues in Teleoperation

Abstract

Transferring skills and expertise to remote places, without being present, is a new challenge for our digitally interconnected society. People can experience and perform actions in distant places through a robotic agent wearing immersive interfaces to feel physically there. However, technological contingencies can affect human perception, compromising skill-based performances. Considering the results from studies on human factors, a set of recommendations for the construction of immersive teleoperation systems is provided, followed by an example of the evaluation methodology. We developed a testbed to study perceptual issues that affect task performance while users manipulated the environment either through traditional or immersive interfaces. The analysis of its effect on perception, navigation, and manipulation relies on performances measures and subjective answers. The goal is to mitigate the effect of factors such as system latency, field of view, frame of reference, or frame rate to achieve the sense of telepresence. By decoupling the flows of an immersive teleoperation system, we aim to understand how vision and interaction fidelity affects spatial cognition. Results show that misalignments between the frame of reference for vision and motor-action or the use of tools affecting the sense of body position or movement have a higher effect on mental workload and spatial cognition.

Comparison of Display Modality and Human-in-the-Loop Presence for On-Orbit Inspection of Spacecraft

“…Synchronous teleoperated control tasks where the human and robot are spatially separated without direct visual contact typically require continuous monitoring of multiple displays, time-sharing between tasks, and may include decision making under time pressure and uncertainty (Almeida et al, 2020;Chen 2023, Vol. 65(6) 1059-1073Sam & Gombolay, 2020).…”

“…Synchronous teleoperated control tasks where the human and robot are spatially separated without direct visual contact typically require continuous monitoring of multiple displays, time-sharing between tasks, and may include decision making under time pressure and uncertainty (Almeida et al, 2020; Chen et al, 2007; Sam & Gombolay, 2020). Due to the operator’s remotely located position relative to the robot, natural human perceptual processing abilities are decoupled from the physical environment posing considerable challenges to the operator’s situation awareness (SA), that is, their understanding of information, events, and actions that impact mission objectives in dynamic environments (Endsley, 2000; Wickens, 2008).…”

Adaptive attention-based human machine interface system for teleoperation of industrial vehicle

“…The advantage of biological intelligence was discussed by 20 . Compared to related studies on AVS, 21 , 22 proposed using views of autonomous monitoring robots for teleoperation, 23 proposed using real-time manipulation of camera, and 24 proposed real-time 3D reconstruction of environment. Therefore, the proposed system based on behavioral data of human operators is advantageous because it does not require additional supporting systems like monitoring robots or camera manipulation system, or real-time 3D reconstruction of the environment that requires high computing power.…”

Effects of Visual Communication Design Accessibility (VCDA) Guidelines for Low Vision on Public and Open Government Health Data

“…Low vision is defined as visual acuity worse than 6/18 and visual fields less than 20° in diameter in the better-seeing eye with the best possible correction [ 30 ]. The meaning of 6/18 is that someone with normal vision can see letters at 18 m, but a person with low vision can see letters at 6 m [ 31 ]. Based on visual acuity according to the definition of low vision, participants were divided into two groups: Group A (n = 16, visual acuity less than 6/18) and Group B (n = 16, visual acuity greater than 6/18).…”