Design of mobile robot teleoperation system based on virtual reality

Masmoudi, M.; Boudadi, L. Kaddour El; Loukil, Abdelhamid; Mohamed, Khelf; Dahane, Amine

doi:10.1109/ceit.2015.7233180

Cited by 13 publications

(4 citation statements)

References 18 publications

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“…Indeed, the findings of Kohm et al (13) indicate that practice in VR could improve manual reaching performance accuracy and consistency in VR. In this context, skills training focusing on using MR as an interface for teleoperation of high-risk tasks could be extremely valuable (35,36). For example, research on VR-based teleoperation of high-risk machinery has shown that using robotic hand avatars, instead of human-like hands, could help to reduce the workers' risk perception and improve task performance (37).…”

Section: Discussionmentioning

confidence: 99%

Prolonged Exposure to Mixed Reality Alters Task Performance in the Unmediated Environment

Wang,

Southwick,

Robinson

et al. 2023

Preprint

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The popularity and promise of mixed reality (MR) technologies, such as virtual (VR) and augmented (AR) reality, have advanced many applications focusing on training and skill development. If successfully deployed, these technologies could prove extremely valuable for high-impact professional training like medical operations where the physical resources are limited or inaccessible. Despite MR’s potential, the effectiveness of skill transfer from the virtual to the physical world remains inconclusive. It is still unclear whether repeatedly performing a task in MR would affect the performance in the same or related tasks in the physical environment. To investigate this issue, participants executed a series of visually-guided manual pointing movements in the physical world before and after spending one hour in VR or AR (n = 20 per group) where they performed the same movements. Results showed that, due to the intrinsic perceptual geometry of the headsets, movements executed in VR were shorter and movements executed in AR were longer than the desired Euclidean distance. More crucially, the perceptuomotor bias in MR also manifested in the subsequent post-test pointing task; participants transferring from VR initially undershoot whereas those transferring from AR initially overshoot the target in the physical environment. These findings call for careful consideration of MR-based training because the exposure to MR may perturb the perceptuomotor processes in the physical environment and negatively impact performance accuracy and transfer of training from MR to UR.

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Section: Discussionmentioning

confidence: 99%

Prolonged Exposure to Mixed Reality Alters Task Performance in the Unmediated Environment

Wang,

Southwick,

Robinson

et al. 2023

Preprint

View full text Add to dashboard Cite

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“…Several works related to mobile robotic applications agree at selecting virtual and augmented reality interfaces in order to improve performance (Cheng-jun et al 2009;Kot and Novák 2018;Mostefa et al 2015;Nielsen et al 2007). One example of enhancing situational awareness is Flying Frustum, an AR interface aimed to control semi-autonomous Unmanned Aerial Vehicles (UAV) using a 3D interactive printout of the terrain.…”

Section: State Of the Artmentioning

confidence: 99%

Application of immersive technologies and natural language to hyper-redundant robot teleoperation

et al. 2019

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This work presents an analysis of immersive realities and natural language applied to the teleoperation of hyper-redundant robots. Such devices have a large number of degrees of freedom, so they often exhibit complex configurations frustrating their spatial understanding. This work aims to contrast two hypotheses; first, if immersive interfaces enhance the telepresence and efficiency against conventional ones; and second, if natural language reduces workload and improves performance against other conventional tools. A total of 2 interfaces and 6 interaction tools have been tested by 50 people. As a result, immersive interfaces were more efficient, improved situational awareness and visual feedback, and were chosen by 94% of participants against conventional ones. On the other hand, participants performed better using natural language than conventional tools despite having less previous experience with the first ones. Additionally, according to 52% of the population, the preferred interaction tool was a mixed strategy that combined voice recognition and hand gestures. Therefore, it is concluded that immersive realities and natural language should play a very important role in the near future of hyper-redundant robots and their teleoperation.

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“…A critical branch of this technological revolution is the integration of VR with teleoperation, which presents a fundamental shift, allowing operators to immerse themselves in remote environments and control robotic systems with high precision and intuitiveness. The increasing demand for teleoperation of robots in a variety of sectors, in addition to advancements in VR technology along with availability of affordable and higher-quality headsets, has driven interest in VR integration with teleoperation in robotic applications (Mostefa et al 2015;Naceri et al 2019).…”

Section: Introductionmentioning

confidence: 99%

Full Immersive Telepresence Through Integration of a VR-Headset with a Teleoperated Humanoid Robotic Head Featuring Real-Time Stereoscopic Vision and Binaural Auditory Perceptions

Dugan,

Sadykov,

Roozbahani

et al. 2024

Preprint

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The rapid evolution of technology has created new opportunities for teleoperation, especially with the emergence of affordable Virtual Reality (VR) systems originally designed for entertainment and gaming. Teleoperation in robotics has a long history, however, its integration with VR for controlling robotic systems is currently gaining significant attention. In this study, a novel real-time platform is developed that integrates teleoperation with a VR system, providing immersive control of a biomimetic robotic head. A 3D model of the robotic head was designed and built to mimic the movements of the operator's head in real-time using the operator’s kinematics. The fabricated robotic head is equipped with a pair of cameras and a binaural microphone to provide vision and audio perception. Additionally, two servomotors are employed to track the motion of the operator’s neck. To control the biomimetic robotic head, a game was developed in Unity to deliver 3D visual and stereophonic audio inputs to the headset, which ensures a smooth viewing and listening experience for the operator. The designed platform is operated through a custom-written C++ program that facilitates continuous tracking of the headset and establishes constant communication with the servomotors. High precision in the positional data and accurate tracking of the head-mounted display (HMD), along with efficient communication with the motors, were achieved. The integration of the VR system and teleoperation developed in this study advances VR technology beyond traditional entertainment-oriented applications and makes it applicable in diverse industrial fields, simultaneously elevating teleoperation in human-robot interactions to new levels of productivity.

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Design of mobile robot teleoperation system based on virtual reality

Cited by 13 publications

References 18 publications

Prolonged Exposure to Mixed Reality Alters Task Performance in the Unmediated Environment

Prolonged Exposure to Mixed Reality Alters Task Performance in the Unmediated Environment

Application of immersive technologies and natural language to hyper-redundant robot teleoperation

Full Immersive Telepresence Through Integration of a VR-Headset with a Teleoperated Humanoid Robotic Head Featuring Real-Time Stereoscopic Vision and Binaural Auditory Perceptions

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