Real time whole body motion mapping for avatars and robots

Spanlang, Bernhard; Navarro, Xavi; Normand, Jean‐Marie; Kishore, Sameer; Pizarro, Rodrigo; Slater, Mel

doi:10.1145/2503713.2503747

Cited by 25 publications

(13 citation statements)

References 8 publications

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“…There has been a lot of work on building virtual embodiment technology (Spanlang et al, 2013(Spanlang et al, , 2014, studying the conditions that can lead to such body ownership illusions (Slater et al, , 2010bSanchez-Vives et al, 2010;Borland et al, 2013;González-Franco et al, 2013;Llobera et al, 2013;Slater, 2013, 2014;Pomes and Slater, 2013;Blom et al, 2014;Kokkinara and Slater, 2014) and exploring the effects of distortions away from the normal form of a person's actual body (Slater et al, 2010b;Normand et al, 2011;Kilteni et al, 2012;Steptoe et al, 2013). There have also been studies on how illusions of body ownership might result in various changes to the real body.…”

Section: The Virtual Bodymentioning

confidence: 99%

Enhancing Our Lives with Immersive Virtual Reality

2016

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SUMMARYVirtual reality (VR) started about 50 years ago in a form we would recognize today [stereo head-mounted display (HMD), head tracking, computer graphics generated images] -although the hardware was completely different. In the 1980s and 1990s, VR emerged again based on a different generation of hardware (e.g., CRT displays rather than vector refresh, electromagnetic tracking instead of mechanical). This reached the attention of the public, and VR was hailed by many engineers, scientists, celebrities, and business people as the beginning of a new era, when VR would soon change the world for the better. Then, VR disappeared from public view and was rumored to be "dead. " In the intervening 25 years a huge amount of research has nevertheless been carried out across a vast range of applications -from medicine to business, from psychotherapy to industry, from sports to travel. Scientists, engineers, and people working in industry carried on with their research and applications using and exploring different forms of VR, not knowing that actually the topic had already passed away.The purpose of this article is to survey a range of VR applications where there is some evidence for, or at least debate about, its utility, mainly based on publications in peer-reviewed journals. Of course not every type of application has been covered, nor every scientific paper (about 186,000 papers in Google Scholar): in particular, in this review we have not covered applications in psychological or medical rehabilitation. The objective is that the reader becomes aware of what has been accomplished in VR, where the evidence is weaker or stronger, and what can be done. We start in Section 1 with an outline of what VR is and the major conceptual framework used to understand what happens when people experience it -the concept of "presence. " In Section 2, we review some areas where VR has been used in science -mostly psychology and neuroscience, the area of scientific visualization, and some remarks about its use in education and surgical training. In Section 3, we discuss how VR has been used in sports and exercise. In Section 4, we survey applications in social psychology and related areas -how VR has been used to throw light on some social phenomena, and how it can be used to tackle experimentally areas that cannot be studied experimentally in real life. We conclude with how it has been used in the preservation of and access to cultural heritage. In Section 5, we present the domain of moral behavior, including an example of how it might be used to train professionals such as medical doctors when confronting serious dilemmas with patients. In Section 6, we consider how VR has been and might be used in various aspects of travel, collaboration, and industry. In Section 7, we consider mainly the use of VR in news presentation and also discuss different types of VR. In the concluding Section 8, we briefly consider new ideas that have recently emerged -an impossible task since during the short time we have written this page even newer idea...

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Section: The Virtual Bodymentioning

confidence: 99%

Enhancing Our Lives with Immersive Virtual Reality

2016

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“…However, if the interaction is mediated, trust could be affected due to the loss of some non-verbal cues. With the proliferation of cutting edge-mediated communication systems, from multiview videoconferencing units to humanlike robots [e.g., Spanlang et al (2013)], the need to understand how their functionalities affect trust formation is critical (Bjørn et al, 2014).…”

Section: Introductionmentioning

confidence: 99%

A Comparison of Avatar-, Video-, and Robot-Mediated Interaction on Users’ Trust in Expertise

Pan

Steed

2016

Front. Robot. AI

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Communication technologies are becoming increasingly diverse in form and functionality. A central concern is the ability to detect whether others are trustworthy. Judgments of trustworthiness rely, in part, on assessments of non-verbal cues, which are affected by media representations. In this research, we compared trust formation on three media representations. We presented 24 participants with advisors represented by two of the three alternate formats: video, avatar, or robot. Unknown to the participants, one was an expert, and the other was a non-expert. We observed participants' advice-seeking behavior under risk as an indicator of their trust in the advisor. We found that most participants preferred seeking advice from the expert, but we also found a tendency for seeking robot or video advice. Avatar advice, in contrast, was more rarely sought. Users' self-reports support these findings. These results suggest that when users make trust assessments, the physical presence of the robot representation might compensate for the lack of identity cues.

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“…All these captured data are then converted and mapped in real time to either a humanoid robot or a virtual avatar depending on the type of destination in which the visitor is currently present. This is achieved using a library that was developed specifically for providing natural method of teleoperation of avatars and robots (Spanlang et al, 2013). Since the visitor has the ability to move the body of the robot or avatar by simply moving their own body, this is likely to result in a high sense of agency over the remote body.…”

Section: The Transportermentioning

confidence: 99%

“…One way of achieving agency is to have full-body tracking of all movements produced by the participant and mapping these to the corresponding limbs of an avatar or a robot in real time. This has been applied to generation of a body ownership illusion (BOI) over a humanoid robot body seen from first person perspective (Kishore et al, 2014), using the algorithm described in Spanlang et al (2013). Methods have also been developed to modify the appearance of a humanoid robot, by projecting a 3D model of the head of the participant on the face of the remote robot using the shader lamp method (Raskar et al, 2001).…”

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confidence: 99%

Multi-Destination Beaming: Apparently Being in Three Places at Once through Robotic and Virtual Embodiment

et al. 2016

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It has been shown that an illusion of ownership over an artificial limb or even an entire body can be induced in people through multisensory stimulation, providing evidence that the surrogate body is the person's actual body. Such body ownership illusions (BOIs) have been shown to occur with virtual bodies, mannequins, and humanoid robots. In this study, we show the possibility of eliciting a full-BOI over not one, but multiple artificial bodies concurrently. We demonstrate this by describing a system that allowed a participant to inhabit and fully control two different humanoid robots located in two distinct places and a virtual body in immersive virtual reality, using real-time full-body tracking and two-way audio communication, thereby giving them the illusion of ownership over each of them. We implemented this by allowing the participant be embodied in any one surrogate body at a given moment and letting them instantaneously switch between them. While the participant was embodied in one of the bodies, a proxy system would track the locations currently unoccupied and would control their remote representation in order to continue performing the tasks in those locations in a logical fashion. To test the efficacy of this system, an exploratory study was carried out with a fully functioning setup with three destinations and a simplified version of the proxy for use in a social interaction. The results indicate that the system was physically and psychologically comfortable and was rated highly by participants in terms of usability. Additionally, feelings of BOI and agency were reported, which were not influenced by the type of body representation. The results provide us with clues regarding BOI with humanoid robots of different dimensions, along with insight about self-localization and multilocation.

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Real time whole body motion mapping for avatars and robots

Cited by 25 publications

References 8 publications

Enhancing Our Lives with Immersive Virtual Reality

Enhancing Our Lives with Immersive Virtual Reality

A Comparison of Avatar-, Video-, and Robot-Mediated Interaction on Users’ Trust in Expertise

Multi-Destination Beaming: Apparently Being in Three Places at Once through Robotic and Virtual Embodiment

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