Multisensory Wearable Interface for Immersion and Telepresence in Robotics
Multisensory Wearable Interface for Immersion and Telepresence in Robotics
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DOI：
10.1109/jsen.2017.2669038
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发表时间：
2017-04-15
影响因子：
4.3
通讯作者：
Prescott, Tony J.
中科院分区：
文献类型：
--
作者：
Martinez-Hernandez, Uriel;Boorman, Luke W.;Prescott, Tony J.
身处异地的想法激发了研究人员开发机器人设备的灵感，使人类能够体验到远程呈现的感觉。这些设备需要多种感官反馈来提供更真实的远程呈现体验。在本文中，我们开发了一种用于沉浸和远程呈现的可穿戴界面，为人类提供了接收来自视觉，触觉和音频的多感官反馈的能力，并远程控制机器人平台。来自远程环境的多模态反馈基于传感器技术与机器人平台传感系统的集成。机器人的远程控制是通过模块化的架构实现的，这使得可以直观地探索远程环境。我们通过多个实验验证了我们的论文，在这些实验中，位于不同场地的参与者能够成功地控制机器人平台，同时在视觉上探索、触摸和聆听远程环境。在我们的实验中，我们使用了两种不同的机器人平台：1)iCub人形机器人和2)Pioneer LX移动机器人。这些实验表明，我们的可穿戴界面舒适，易于使用，并适应不同的机器人平台。此外，我们观察到，我们的方法可以让人类体验到一种生动的感觉，即在一个遥远的环境中存在。
The idea of being present in a remote location has inspired researchers to develop robotic devices, that make humans to experience the feeling of telepresence. These devices need of multiple sensory feedback to provide a more realistic telepresence experience. In this paper, we develop a wearable interface for immersion and telepresence that provides to human with the capability of both to receive multisensory feedback from vision, touch, and audio, and to remotely control a robot platform. Multimodal feedback from a remote environment is based on the integration of sensor technologies coupled to the sensory system of the robot platform. Remote control of the robot is achieved by a modularised architecture, which allows to visually exploring the remote environment. We validated our paper with multiple experiments where participants, located at different venues, were able to successfully control the robot platform while visually exploring, touching, and listening a remote environment. In our experiments, we used two different robotic platforms: 1) the iCub humanoid robot and 2) the Pioneer LX mobile robot. These experiments show that our wearable interface is comfortable, easy to use, and adaptable to different robotic platforms. Furthermore, we observed that our approach allows humans to experience a vivid feeling of being present in a remote environment.