Telerobotic Haptic Exploration in Art Galleries and Museums for Individuals with Visual Impairments
Telerobotic Haptic Exploration in Art Galleries and Museums for Individuals with Visual Impairments
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DOI：
10.1109/toh.2015.2460253
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发表时间：
2015-07-01
影响因子：
2.9
通讯作者：
Howard, Ayanna M.
中科院分区：
文献类型：
--
作者：
Park, Chung Hyuk;Ryu, Eun-Seok;Howard, Ayanna M.
本文提出了一种触觉临场感系统，使视障用户探索具有丰富的视觉观察，如艺术画廊和博物馆的位置，通过使用临场感机器人，RGB-D传感器（彩色和深度相机），和触觉接口。最近对RGB-D传感器的改进使得能够以点云的形式实时访问3D空间信息。然而，这种数据的实时表示形式的有形的触觉体验还没有受到足够的挑战，特别是在远程呈现的情况下，个人的视觉障碍。因此，所提出的系统通过视频编码和远程真实世界环境的实时3D触觉渲染来解决远程3D信息的实时触觉探索。本文研究了触觉临场感中的两种场景，即，远程环境中的移动的导航和对象探索。有视觉障碍和没有视觉障碍的参与者参与了我们基于这两个场景的实验，并验证了系统的性能。总之，所提出的框架提供了一种新的方法，触觉远程呈现的视觉障碍的个人通过提供增强的交互式体验，他们可以远程访问公共场所（美术馆和博物馆）的帮助下，触觉模态和机器人远程呈现。
This paper presents a haptic telepresence system that enables visually impaired users to explore locations with rich visual observation such as art galleries and museums by using a telepresence robot, a RGB-D sensor (color and depth camera), and a haptic interface. The recent improvement on RGB-D sensors has enabled real-time access to 3D spatial information in the form of point clouds. However, the real-time representation of this data in the form of tangible haptic experience has not been challenged enough, especially in the case of telepresence for individuals with visual impairments. Thus, the proposed system addresses the real-time haptic exploration of remote 3D information through video encoding and real-time 3D haptic rendering of the remote real-world environment. This paper investigates two scenarios in haptic telepresence, i.e., mobile navigation and object exploration in a remote environment. Participants with and without visual impairments participated in our experiments based on the two scenarios, and the system performance was validated. In conclusion, the proposed framework provides a new methodology of haptic telepresence for individuals with visual impairments by providing an enhanced interactive experience where they can remotely access public places (art galleries and museums) with the aid of haptic modality and robotic telepresence.