Improving teleoperation: reducing mental rotations and translations

DeJong, Brian Peter; Colgate, J. Edward; Peshkin, Michael A.

doi:10.1109/robot.2004.1308838

Cited by 44 publications

(28 citation statements)

References 13 publications

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“…Prior work has shown that a lack of situation awareness correlates with poor operator performance [5,32], often stemming from the operator's lack of understanding of the remote system's surroundings, status, or location [9]. The use of standard video cameras that are designed to provide only a narrow range of view can lead to what is known as the soda straw or keyhole effect, where the limited visibility requires extra user effort to achieve awareness levels similar to having a direct view of the environment [48].…”

Section: Narrow View Limitationsmentioning

confidence: 99%

Can You See Me Now?

Johnson

Rae

Mutlu

et al. 2015

Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems

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Robotic telepresence systems-videoconferencing systems that allow a remote user to drive around in another locationare an emerging technology for supporting geographicallydistributed teams. Thus far, many of these systems rely on affordances designed for stationary systems, such as a single, narrow-view camera to provide vision for the remote user. Teleoperation has offered some solutions to this via an augmented field-of-view, but how these solutions support task outcomes in collaborative mobile telepresence tasks has yet to be understood. To investigate this, we conducted a three condition (field-of-view: narrow (45°) vs. wide-angle (180°) vs. panoramic (360°)) between-participants controlled laboratory experiment. We asked participants (N = 24) to collaborate with a confederate via a robotic telepresence system while using one of these views in a redecoration task. Our results showed that wider views supported task efficiency and fewer collisions, but were perceived as more difficult to use.

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Section: Narrow View Limitationsmentioning

confidence: 99%

Can You See Me Now?

Johnson

Rae

Mutlu

et al. 2015

Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems

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show abstract

“…DeJong, et al [7] investigated optimizing the teleoperator's interface in order to reduce the mental workload by minimizing the number of mental rotations and translations that the teleoperator must do in order to gain situational awareness. They showed that by organizing the interface and displays in an effective way, the transformations required to convert the robot's desired motion -as seen in the operator's view of the world -into a command to the input device can be minimized, reducing training and task times and increasing task performance.…”

Section: Related Workmentioning

confidence: 99%

Coordinate Frames in Robotic Teleoperation

Hiatt

Simmons

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-An important mode of human-robot interaction is teleoperation, in which a human operator directly controls a robot via hardware such as a joystick or mouse. Such control is not always easy, however, as the viewpoint of the human, the alignment of the input device, and the local coordinate frame of the robot are rarely all aligned. These discrepancies force the user to reconcile the involved coordinate frames during teleoperation. Therefore, the choice of coordinate frames is critical since an unintuitive coordinate frame mapping will likely lead to higher mental workload and reduced efficiency. We discuss this concern, describe the various difficulties involved with natural remote teleoperation of a robot, and report experiments that demonstrate the effects of using different frames of reference on task performance and user mental workload.

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“…We conjecture that moving the robot in its end-effector coordinates is more difficult and causes delays in perception and spatial processing (DeJong, Colgate, & Peshkin, 2004) of the EE POR frame mapped to the joysticks ,leading to greater time taken in EE kinematics. WR kinematics seemed to reduce recovery time from convoluted orientations, due to its decoupled rotation and translation components, hence shorter times were observed.…”

Section: Discussionmentioning

confidence: 99%

Comparing two kinematics methods for telerobotic control applications

Chintamani¹,

Nawab²,

Pandy³

et al. 2006

PsycEXTRA Dataset

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Two inverse kinematics algorithms were implemented in a tele-operated robot system and evaluated with a user performance study. The kinematics algorithms were designed such that the point of resolution (POR) of the robot arm's wrist and the end-effector was controlled by joysticks, one each for rotation and translation. Operator performance was evaluated with "peg-in-the-hole" type tasks using both the wrist and end-effector POR modes. Wrist kinematics resulted in faster performance times, however, with longer average distances traveled while the opposite effect was observed with end-effector kinematics. Reversal errors were present equally in both modes, while the end-effector mode showed higher 1-axis use of the joysticks. Implications for remote robotic operation design and kinematics are discussed.

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Improving teleoperation: reducing mental rotations and translations

Cited by 44 publications

References 13 publications

Can You See Me Now?

Can You See Me Now?

Coordinate Frames in Robotic Teleoperation

Comparing two kinematics methods for telerobotic control applications

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