Usability Evaluation of VR Interface for Mobile Robot Teleoperation

Jankowski, Jarosław; Grabowski, Andrzej

doi:10.1080/10447318.2015.1039909

Cited by 44 publications

(19 citation statements)

References 23 publications

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“…Advancements in VR technology have seen the CAVE systems of the early 90s being replaced by cheaper and more flexible headsets such as the Oculus Rift or the HTC Vive. This has sparked a boom in the field of robotics where VR has recently seen the most use as a more intuitive method for teleoperation of stationary [26], mobile [27] and humanoid robots [28]. A natural extension of such a teleoperation systems is a more immersive tool for telepresence robots [29].…”

Section: Related Workmentioning

confidence: 99%

Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

Petković

Puljiz

Marković

et al. 2019

Robotics and Computer-Integrated Manufacturing

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With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results.

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Section: Related Workmentioning

confidence: 99%

Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

Petković

Puljiz

Marković

et al. 2019

Robotics and Computer-Integrated Manufacturing

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“…Teleoperation interfaces have recently included stereoscopic three-dimensional (S3D) monitors [11] [12], while in some fields such as telesurgery, S3D has become an established technology (see e.g. the spread of the daVinci system).…”

Section: Introductionmentioning

confidence: 99%

Intuitive Robot Teleoperation Through Multi-Sensor Informed Mixed Reality Visual Aids

et al. 2021

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The work carried out by the University of Catania is in the framework of the project "Safe and Smart Farming with Artificial Intelligence and Robotics-programma ricerca di ateneo UNICT 2020-22 linea 2" ABSTRACT Mobile robotic systems have evolved to include sensors capable of truthfully describing robot status and operating environment as accurately and reliably as never before. This possibility is challenged by effective sensor data exploitation, because of the cognitive load an operator is exposed to, due to the large amount of data and time-dependency constraints. This paper addresses this challenge in remote-vehicle teleoperation by proposing an intuitive way to present sensor data to users by means of using mixed reality and visual aids within the user interface. We propose a method for organizing information presentation and a set of visual aids to facilitate visual communication of data in teleoperation control panels. The resulting sensor-information presentation appears coherent and intuitive, making it easier for an operator to catch and comprehend information meaning. This increases situational awareness and speeds up decision-making. Our method is implemented on a real mobile robotic system operating outdoor equipped with on-board internal and external sensors, GPS, and a reconstructed 3D graphical model provided by an assistant drone. Experimentation verified feasibility while intuitive and comprehensive visual communication was confirmed through an assessment, which encourages further developments.

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“…The participants indicated that the VR HMD is easier to learn and it is comfortable since it does not cause dizziness or physical inconvenience. Several studies have shown that using the VR HMD is e cient in a medical environment, even in the operating room [30][31][32][33]. Although previous studies have proved the advantages of the VR HMD, these studies lack clinical opinions and analyses on surgeons that are skilled with surgical robot systems.…”

Section: Introductionmentioning

confidence: 99%

Development & Evaluation of Virtual Reality (VR) based Novel Vision System for the da Vinci Surgical Robot

Mun

Kim

et al. 2020

Preprint

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Background: Robot surgery has become prevalent because of its various advantages as a progressive method based on empirical researches of conventional open surgery and minimally invasive surgery. However, the da Vinci surgical robot system, the most widely used and researched surgical robot, still requires an ergonomic improvement because of the uncomfortable posture in which it has to be operated. The stereo viewer—the current vision system of the da Vinci surgical robot—requires a user to maintain a posture wherein the user is looking down, which causes discomfort and results in musculoskeletal disorders. To overcome this limitation, a virtual reality (VR) head-mounted display (HMD) is proposed by previous researchers as an appropriate option to replace the stereo viewer, as it enables surgeons to move freely during surgery instead of having to look down on the stereo viewer. Presently, there is no direct comparison between the stereo viewer and a VR HMD by surgeons. Comparative evaluations were performed using peg transfer tasks, a questionnaire, and a NASA-Task Load Index (TLX). These were planned and performed by surgeons and novices to determine if the stereo viewer can be replaced by the VR HMD and to investigate whether the VR HMD has ergonomic.Results: Based on the results of peg transfer tasks, completion times when using VR HMD were shorter than those when using the stereo viewer. In these tasks, the participants performed more executions using the VR HMD compared to the stereo viewer. Based on the questionnaire, the participants favored the VR HMD compared to the stereo viewer, with respect to its visual and ergonomic performance. The modified NASA-TLX showed positive perceptions for the VR HMD.Conclusions: This comparative evaluation confirmed that the VR HMD can be employed as a potential alternative for the stereo viewer in a surgical robot system to achieve ergonomic improvements. The VR HMD improved the task performance of the surgical robot system, and it provided an ergonomic operation environment.

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Usability Evaluation of VR Interface for Mobile Robot Teleoperation

Cited by 44 publications

References 23 publications

Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

Intuitive Robot Teleoperation Through Multi-Sensor Informed Mixed Reality Visual Aids

Development & Evaluation of Virtual Reality (VR) based Novel Vision System for the da Vinci Surgical Robot

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Usability Evaluation of VR Interface for Mobile Robot Teleoperation

Cited by 44 publications

References 23 publications

Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

Intuitive Robot Teleoperation Through Multi-Sensor Informed Mixed Reality Visual Aids

Development &amp; Evaluation of Virtual Reality (VR) based Novel Vision System for the da Vinci Surgical Robot

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Development & Evaluation of Virtual Reality (VR) based Novel Vision System for the da Vinci Surgical Robot