Head‐mounted displays (HMDs) allow the visualization of virtual content and the change of view perspectives in a virtual reality (VR). Besides entertainment purposes, such displays also find application in augmented reality, VR training, or tele‐robotic systems. The quality of visual feedback plays a key role for the interaction performance in such setups. In the last years, high‐end computers and displays led to the reduction of simulator sickness regarding nausea symptoms, while new visualization technologies are required to further reduce oculomotor and disorientation symptoms. The so‐called vergence–accommodation conflict (VAC) in standard stereoscopic displays prevents intense use of 3D displays, so far. The VAC describes the visual mismatch between the projected stereoscopic 3D image and the optical distance to the HMD screen. This conflict can be solved by using displays with correct focal distance. The light‐field HMD of this study provides a close‐to‐continuous depth and high image resolution enabling a highly natural visualization. This paper presents the first user‐study on the visual comfort of light‐field displays with a close‐to‐market HMD based on complex interaction tasks. The results provide first evidence that the light‐field technology brings clear benefits to the user in terms of physical use comfort, workload, and depth matching performance.
Certain telerobotic applications, including telerobotics in space, pose particularly demanding challenges to both technology and humans. Traditional bilateral telemanipulation approaches often cannot be used in such applications due to technical and physical limitations such as long and varying delays, packet loss, and limited bandwidth, as well as high reliability, precision, and task duration requirements. In order to close this gap, we research model-augmented haptic telemanipulation (MATM) that uses two kinds of models: a remote model that enables shared autonomous functionality of the teleoperated robot, and a local model that aims to generate assistive augmented haptic feedback for the human operator. Several technological methods that form the backbone of the MATM approach have already been successfully demonstrated in accomplished telerobotic space missions. On this basis, we have applied our approach in more recent research to applications in the fields of orbital robotics, telesurgery, caregiving, and telenavigation. In the course of this work, we have advanced specific aspects of the approach that were of particular importance for each respective application, especially shared autonomy, and haptic augmentation. This overview paper discusses the MATM approach in detail, presents the latest research results of the various technologies encompassed within this approach, provides a retrospective of DLR's telerobotic space missions, demonstrates the broad application potential of MATM based on the aforementioned use cases, and outlines lessons learned and open challenges.
Haptic guidance in teleoperation (e.g. of robotic systems) is a pioneering approach to successfully combine automation and human competencies. In the current user study, various forms of haptic guidance were evaluated in terms of user performance and experience. Twenty-six participants completed an obstacle avoidance task and a peg-in-hole task in a virtual environment using a seven DoF force feedback device. Three types of haptic guidance (translational, rotational, combination of both, i.e. 6 DoF) and three guidance forces and torques (stiffnesses) were compared. Moreover, a secondary task paradigm was utilized to explore the effects of additional cognitive load. The results show that haptic guidance significantly improves performance (i.e. completion times, collision forces). Best results were obtained when the guidance forces were set to a medium or high value. Additionally, feelings of control were significantly increased during higher cognitive load conditions when being supported by translational haptic guidance.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.
hi@scite.ai
10624 S. Eastern Ave., Ste. A-614
Henderson, NV 89052, USA
Copyright © 2024 scite LLC. All rights reserved.
Made with 💙 for researchers
Part of the Research Solutions Family.