The use of different feedback modalities and verbal collaboration in tele-robotic assistance

Bolarinwa, Joseph; Eimontaite, Iveta; Dogramadzi, Sanja; Mitchell, Tom M.; Caleb-Solly, Praminda

doi:10.1109/rose.2019.8790412

Cited by 5 publications

(7 citation statements)

References 17 publications

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“…In this study, we present the analysis of the gaze data recorded during the task to understand how teleoperators interacted with the system. Results on other findings during the same study have been published by Bolarinwa et al (2019) .…”

Section: Discussionmentioning

confidence: 62%

“…The study presented here extends the report presented by Bolarinwa et al (2019) focusing specifically on the use of gaze tracking to assess how participants employ a combination of visual, haptic, and verbal feedback modalities to assist them during different stages of an object manipulation task, while also interacting with a remote service user ( Figure 1 ).…”

Section: Introductionmentioning

confidence: 76%

“…Scenario 4 (S4) had the highest gaze duration when the effect of feedback was investigated for the bottom-right quadrant ( Table 5 ). We compared the longer gaze duration and the fixation count results of Scenario 4 (S4) with results published by Bolarinwa et al (2019) . Bolarinwa et al (2019) reported that the most significant improvement in gripper orientation was noticed for S4, and when the system usability scale was compared for all scenarios, S4 also had the joint highest score recorded.…”

Section: Discussionmentioning

confidence: 99%

“…This study builds on the research work presented in Bolarinwa et al (2019 ), and the key elements of the method have been included here for clarity. Ethics approval for the study was obtained from the ethics committee of the University of the West of England, Bristol (UWE REC REF NO: FET.17.12.015).…”

Section: Methodsmentioning

confidence: 99%

“…Assistive robots that are designed to perform more diverse tasks also encourage greater collaboration with humans, particularly in terms of social interaction which helps to build trust and empathy ( Langer et al, 2019 ) ( Lv et al, 2020 ) ( Begum et al, 2015 ). The need for social interaction and the unpredictable nature of living environments makes a case for the introduction of teleoperated assistive robots ( Bolarinwa et al, 2019 ). The safety of service users is very important for human-robot interaction, especially for uncontrolled environments which may make teleoperation more difficult.…”

Section: Related Workmentioning

confidence: 99%

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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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Section: Discussionmentioning

confidence: 62%

Section: Introductionmentioning

confidence: 76%