Skill Acquisition and Task Performance in Teleoperation Using Monoscopic and Stereoscopic Video Remote Viewing

Abstract

There are many tasks hazardous to human life which can be accomplished remotely through telerobotic control. Robot technology has advanced to the stage where teleoperated manipulators are versatile and effective enough to be used successfully in a wide variety of circumstances. As telerobotic systems become more sophisticated, it is important to ensure that the human-machine interface is adequate for the task. One very important type of feedback information that is missing from standard telerobotic control stations is the immediate and compelling binocular coding of depth, which is thwarted through the use of standard monoscopic (“2D”) video systems, making the operator dependent on other less salient visual depth cues. This is unfortunate, since most telemanipulation tasks require operators to have a good sense of the relative locations of objects in the remote world. To that end, a practical Stereoscopic Video (SV) system was developed that is compatible with standard video display and recording equipment. An experiment was conducted to examine the potential benefits of SV for teleoperation. The results showed that SV can aid teleoperation by reducing task execution times, reducing error rates, and reducing the time needed for training.

Human-Robot Interaction for Semi-Autonomous Assistive Robots : Empirical Studies and an Interaction Concept for Supporting Elderly People at Home

“…It shows that even for a contemporary user interface relying on semi-autonomy, point cloud display, and free viewpoint adjustment, stereoscopic display can be beneficial. Previous studies on robotic telemanipulation suggesting benefits of stereo display have relied on video-based displays with a fixed viewpoint and no or little system autonomy (Edmondson et al, 2012;Drascic, 1991;Hutto et al, 2004).…”

“…Studies have suggested that stereoscopic display improves users' task performance and environment judgments in such domains as reaching for objects, positioning and resizing objects, and path tracing in virtual environments (Arsenault & Ware, 2004;Hubona et al, 2004;Sollenberger & Milgram, 1993;Ware & Franck, 1996;Barfield et al, 1999), or in video-based robotic telemanipulation (Edmondson et al, 2012;Drascic, 1991;Hutto et al, 2004), video-based remote robot navigation (Lee & Kim, 2008;Livatino et al, 2008;Chen et al, 2014), and remote robot navigation based on egocentric 3D visualizations extrapolated from 2D laser scanner data (Livatino et al, 2010).…”

Semi-Autonomous Domestic Service Robots: Evaluation of a User Interface for Remote Manipulation and Navigation With Focus on Effects of Stereoscopic Display

“…Binocular disparity, not available when using standard displays and realized through stereoscopic technology, can be a powerful cue to depth. Compared to monoscopic display, stereoscopic display has shown to improve users' task performance and accuracy of environment judgments in a number of domains related to the present user interface like reaching for objects [53], positioning and resizing objects [54], and path tracing [55][56][57] in virtual environments, video-based robotic telemanipulation [50,58,59], video-based remote robot navigation [49,60,61], and remote robot navigation based on egocentric 3D visualizations extrapolated from 2D laser scanner data [62].…”

Advancing simulation-based driver training

“…For example, stereo presentations reduced the required training time of a teleoperating task (Drascic, 1991). Mourant and Parsi (2002) found that people who trained a pick-and-place task in a stereo environment performed better on one aspect of a real world posttest than participants who had trained in a monoscopic environment.…”