Effects of Throughput Delay on Perception of Robot Teleoperation and Head Control Precision in Remote Monitoring Tasks
Effects of Throughput Delay on Perception of Robot Teleoperation and Head Control Precision in Remote Monitoring Tasks
复制标题
远程监控任务中吞吐量延迟对机器人遥操作感知和头部控制精度的影响
DOI：
10.1162/pres_a_00328
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Nagai Yukie
中科院分区：
文献类型：
--
作者：
Orlosky Jason;Theofilis Konstantinos;Kiyokawa Kiyoshi;Nagai Yukie
对于机器人遥操作者来说，在远程环境中复制头部运动通常是完成监控和面对面服务任务所必需的。特别是在立体相机装置的情况下，远程相机需要移动以匹配操作者的头部位置和光轴，以便与远程实体交互、跟踪目标或重新定向。然而，机械，计算和网络延迟，这种遥操作可能会导致感官间的冲突，知觉缺陷，并减少性能，特别是在活动中，需要头部旋转。在这篇文章中，我们评估了远程监控任务的性能和感知视图重建的影响。为此，我们首先实现了一种全景重建方法，以减少人形机器人的感知延迟，这使我们能够比较和对比延迟。接下来，我们为机器人设计了一个双向远程控制系统，并设置了一系列实验，参与者必须通过机器人的视角进行集中的头部控制任务。这使我们能够比较延迟对头部运动、准确性以及界面和远程遥控操作的主观感知的影响。结果表明，全景重建显着提高了感知和舒适度在遥操作，但性能只提高了需要较慢的头部运动的任务。
For robot teleoperators, replicating head motion in a remote environment is often necessary to complete monitoring and face-to-face service tasks. Especially in the case of a stereoscopic camera rig, remote cameras need to be moved to match the operator's head position and optical axes in order to interact with a remote entity, follow targets, or reorient. However, mechanical, computational, and network delay in such teleoperation can cause intersensory conflict, perceptual deficits, and reduction in performance, especially during activities that require head rotation. In this article, we evaluate the effects of view reconstruction on performance and perception for remote monitoring tasks. To do so, we first implemented a panoramic reconstruction method to reduce perceived latency in a humanoid robot, which allows us to compare and contrast latency. Next, we designed a bidirectional remote control system for the robot and set up a series of experiments where participants had to conduct focused head control tasks through the perspective of the robot. This allowed us to compare the effects of latency on head movement, accuracy, and subjective perception of the interface and remote teleoperation. Results showed that panoramic reconstruction significantly improved perception and comfort during teleoperation, but that performance only improved for tasks requiring slower head movements.
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影响因子：
3.7
作者：
Levy N;Pressman A;Mussa-Ivaldi FA;Karniel A
通讯作者：
Karniel A
用于人形机器人控制的远程存在驾驶舱
影响因子：
2
作者：
S. Tachi;K. Komoriya;K. Sawada;T. Nishiyama;T. Itoko;Masami Kobayashi;Kozo Inoue
通讯作者：
Kozo Inoue
远程呈现：使用 iCub 人形机器人和 Oculus Rift 进行沉浸式体验
DOI：
--
发表时间：
2015
期刊：
Living Machines
影响因子：
--
作者：
Uriel Martinez;L. Boorman;T. Prescott
通讯作者：
T. Prescott
DOI：
10.1109/robot.2010.5509652
发表时间：
2010
期刊：
2010 IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
Adam Rachmielowski;N. Birkbeck;Martin Jägersand
通讯作者：
Martin Jägersand
影响因子：
4.6
作者：
Babič J;Oztop E;Kawato M
通讯作者：
Kawato M