Poster: Comparing vibro-tactile feedback modes for collision proximity feedback in USAR virtual robot teleoperation

Abstract

Although multi-sensorial interfaces have been shown to improve user experience in different settings in Virtual Reality, these interfaces are not yet fully explored in urban search-and-rescue robot teleoperation. This paper presents a study on the performance effects of adding different types of vibro-tactile collision proximity feedback to a virtual robot's interface during a search task in a virtual environment. Results indicate that the addition of vibro-tactile feedback causes positive performance effects, especially for the intensity variation mode. Nevertheless, it also has a comfort impact for prolonged use.

Performance effects of multi-sensory displays in virtual teleoperation environments

“…The treatment questionnaire is summarized in Table 3. Subjective questions (3)(4)(5)(6)(7)(8) were adapted from the SUS [35] and SSQ [20] questionnaires and followed a Likert scale (1-7). The final questionnaire is summarized in Table 4 and its questions 1-5 were also given on a Likert scale (1-7).…”

“…Maps were scored twice by two evaluators. The definition used for scoring map goodness is similar to the ones used in [1] and [6], that is, how well the sketched map helps in guiding one through the VE. Table 2: Experimental procedure for one subject.…”

“…Previous studies in USAR virtual robot teleoperation, vehicle driving [37] and pedestrian navigation [29] have shown that adding properly designed vibro-tactile displays to visual ones can improve navigation performance [6]. It has also been found that redundant feedback in such displays led to higher levels of SA, and increased navigation performance variability among operators [7].…”

“…Interface 1, the control case interface that was used as a starting point for the two other interfaces evaluated here, was designed following USAR interface guidelines and is based on the work of Nielsen [28] and de Barros & Lindeman [6]. It is composed of a visual interface (Figure 1) with a vibro-tactile belt display ( Figure 2a).…”

“…Results from other previous work [6] have shown that vibro-tactile feedback can improve performance if used with a visual interface as a complementary source of collision proximity feedback (CPF) in a simple virtual teleoperation task. What is not a consensus yet among these and other studies [37], however, is whether the use of redundant feedback actually brings overall benefits.…”