Evaluation and Benefits of Head-Mounted Display Systems for HRI Research

2018 ◽  
Vol 62 (1) ◽  
pp. 1484-1488
Author(s):  
Rhyse Bendell ◽  
Gabrielle Vasquez ◽  
Andrew B. Talone ◽  
Florian Jentsch
Keyword(s):  
Human Robot Interaction ◽  
Hand Tracking ◽  
Head Tracking ◽  
Robot Interaction ◽  
Head Mounted Display ◽  
Military Research ◽  
Head Mounted Displays ◽  
Pros And Cons ◽  
Conducting Research ◽  
Display Systems

The intent of this evaluation is to describe the unique benefits that may be provided to human robot interaction (HRI) researchers by the capabilities of commercially available binocular head-mounted displays (HMDs) and associated handheld controllers. Three popular HMDs (Oculus Rift, HTC Vive, and Google Daydream) were compared across eight factors: cost, head tracking fidelity, visual resolution, user mobility, hand tracking fidelity, number of input modes, adaptability of input, and provided tracking space. Each of these elements was considered in the context of their relevance to the field of HRI, and potential importance for conducting research in immersive virtual reality (IVR). A Pugh chart was developed to succinctly compare the pros and cons of each headset alongside a description of IVR tasks for HRI military research as well as examples taken from work currently being conducted in our lab.

scholarly journals Fundamentals of soft robot locomotion

2017 ◽  
Vol 14 (130) ◽  
pp. 20170101 ◽  
Author(s):  
M. Calisti ◽  
G. Picardi ◽  
C. Laschi
Keyword(s):  
Deformable Body ◽  
Human Robot Interaction ◽  
Soft Robotics ◽  
Soft Robot ◽  
Robot Interaction ◽  
Reference Guide ◽  
Robot Locomotion ◽  
Pros And Cons ◽  
Research Stage ◽  
Soft Manipulation

Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human–robot interaction and locomotion. Although field applications have emerged for soft manipulation and human–robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics.

Using Virtual Reality to Test Human-Robot Interaction During a Collaborative Task

2019 ◽  
Author(s):  
Roberta Etzi ◽  
Siyuan Huang ◽  
Giulia Wally Scurati ◽  
Shilei Lyu ◽  
Francesco Ferrise ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Manufacturing Industry ◽  
Physiological Responses ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Assembly Task ◽  
Head Mounted Display ◽  
Collaborative Platform ◽  
Simple Assembly ◽  
Human Robot Collaboration

Abstract The use of collaborative robots in the manufacturing industry has widely spread in the last decade. In order to be efficient, the human-robot collaboration needs to be properly designed by also taking into account the operator’s psychophysiological reactions. Virtual Reality can be used as a tool to simulate human-robot collaboration in a safe and cheap way. Here, we present a virtual collaborative platform in which the human operator and a simulated robot coordinate their actions to accomplish a simple assembly task. In this study, the robot moved slowly or more quickly in order to assess the effect of its velocity on the human’s responses. Ten participants tested this application by using an Oculus Rift head-mounted display; ARTracking cameras and a Kinect system were used to track the operator’s right arm movements and hand gestures respectively. Performance, user experience, and physiological responses were recorded. The results showed that while humans’ performances and evaluations varied as a function of the robot’s velocity, no differences were found in the physiological responses. Taken together, these data highlight the relevance of the kinematic aspects of robot’s motion within a human-robot collaboration and provide valuable insights to further develop our virtual human-machine interactive platform.

Research on Human Cognition for Biologically Inspired Developments

2017 ◽  
pp. 83-116 ◽  
Author(s):  
Marko Wehle ◽  
Alexandra Weidemann ◽  
Ivo Wilhelm Boblan
Keyword(s):  
Role Model ◽  
Cognitive Model ◽  
Human Robot Interaction ◽  
Human Cognition ◽  
Biologically Inspired ◽  
Robot Interaction ◽  
Intelligent Machines ◽  
The World ◽  
Conducting Research ◽  
Interaction Research

Robotic developments are seen as a next level in technology with intelligent machines, which automate tedious tasks and serve our needs without complaints. But nevertheless, they have to be fair and smart enough to be intuitively of use and safe to handle. But how to implement this kind of intelligence, does it need feelings and emotions, should robots perceive the world as we do as a human role model, how far should the implementation of synthetic consciousness lead and actually, what is needed for consciousness in that context? Additionally in Human-Robot-Interaction research, science mainly makes use of the tool phenomenography, which is exclusively subjective, so how to make it qualify for Artificial Intelligence? These are the heading aspects of this chapter for conducting research in the field of social robotics and suggesting a conscious and cognitive model for smart and intuitive interacting robots, guided by biomimetics.

scholarly journals Exocentric Distance Judgment and Accuracy of Head-Mounted and Stereoscopic Widescreen Displays in Frontal Planes

2020 ◽  
Vol 10 (4) ◽  
pp. 1427
Author(s):  
Chiuhsiang Joe Lin ◽  
Betsha Tizazu Abreham ◽  
Dino Caesaron ◽  
Bereket Haile Woldegiorgis
Keyword(s):  
Frontal Plane ◽  
Distance Judgment ◽  
Head Mounted Display ◽  
Position Accuracy ◽  
Significant Difference ◽  
Head Mounted Displays ◽  
Position Data ◽  
Exocentric Distance ◽  
3D Applications ◽  
Display Systems

An experiment was done to explore the effects of two virtual display systems on the accuracy of exocentric distance judgment and position. Sixteen participants viewed animated virtual targets using either a head-mounted display (HMD) or a stereoscopic widescreen display (SWD). The virtual targets have been shown, one at a time, at three depth levels and with two corresponding exocentric distances and three target sizes at each target distance and, afterward, via pointing by holding a stick to estimate the exocentric distance and position of each target. The position data were collected using an OptiTrack motion capture system. The results showed that the accuracy of exocentric distance judgment was higher with the head-mounted displays than with the stereoscopic widescreen displays. In addition, higher position accuracy in the X-direction was obtained from the stereoscopic widescreen displays, whereas no significant difference was observed in position accuracy in the Y-direction. However, it is possible that the HMD could give better accuracy in both exocentric distance and position judgments in the frontal plane, if the HMD had been perfectly mounted and flawlessly fit the participant’s eyes. The result also revealed that exocentric distance judgment was significantly higher at the farthest target distances than at the nearest distance. Similarly, the position accuracy significantly increased as exocentric distance decreased. Moreover, engineers may allude to the findings as the evidence from the study suggests that the intermediate target distances might be fitting or ideal distances to design and structure 3D applications.

scholarly journals A Survey of Behavioural Models for Social Robots

2019 ◽  
Author(s):  
Olivia Nocentini ◽  
Laura Fiorini ◽  
Giorgia Acerbi ◽  
Alessandra Sorrentino ◽  
Gianmaria Mancioppi ◽  
...  
Keyword(s):  
Web Of Science ◽  
Social Robots ◽  
Human Robot Interaction ◽  
Cognitive Architectures ◽  
Robot Interaction ◽  
Exclusion Criteria ◽  
Pros And Cons

The cooperation between humans and robots is becoming increasingly important in our society. Consequently, there is a growing interest in the development of models that can enhance the interaction between humans and robots. A key challenge in the Human-Robot Interaction (HRI) field is to provide robots with cognitive and affective capabilities, developing architectures that let them establish empathetic relationships with users. Several models have been proposed in recent years to solve this open-challenge. This work provides a survey of the most relevant attempts/works. In details, it offers an overview of the architectures present in literature focusing on three specific aspects of HRI: the development of adaptive behavioural models, the design of cognitive architectures, and the ability to establish empathy with the user. The research was conducted within two databases: Scopus and Web of Science. Accurate exclusion criteria were applied to screen the 1007 articles found (at the end 30 articles were selected). For each work, an evaluation of the model is made. Pros and cons of each work are detailed by analysing the aspects that can be improved so that an enjoyable interaction between robots and users can be established.

Research on Human Cognition for Biologically Inspired Developments

2020 ◽  
pp. 1507-1532
Author(s):  
Marko Wehle ◽  
Alexandra Weidemann ◽  
Ivo Wilhelm Boblan
Keyword(s):  
Role Model ◽  
Cognitive Model ◽  
Human Robot Interaction ◽  
Human Cognition ◽  
Biologically Inspired ◽  
Robot Interaction ◽  
Intelligent Machines ◽  
The World ◽  
Conducting Research ◽  
Interaction Research

Robotic developments are seen as a next level in technology with intelligent machines, which automate tedious tasks and serve our needs without complaints. But nevertheless, they have to be fair and smart enough to be intuitively of use and safe to handle. But how to implement this kind of intelligence, does it need feelings and emotions, should robots perceive the world as we do as a human role model, how far should the implementation of synthetic consciousness lead and actually, what is needed for consciousness in that context? Additionally in Human-Robot-Interaction research, science mainly makes use of the tool phenomenography, which is exclusively subjective, so how to make it qualify for Artificial Intelligence? These are the heading aspects of this chapter for conducting research in the field of social robotics and suggesting a conscious and cognitive model for smart and intuitive interacting robots, guided by biomimetics.

scholarly journals Analysis of Precision and Stability of Hand Tracking with Leap Motion Sensor

Sensors ◽  
2020 ◽  
Vol 20 (15) ◽  
pp. 4088
Author(s):  
Aleš Vysocký ◽  
Stefan Grushko ◽  
Petr Oščádal ◽  
Tomáš Kot ◽  
Ján Babjak ◽  
...  
Keyword(s):  
Industrial Robot ◽  
Tracking System ◽  
Human Robot Interaction ◽  
Hand Tracking ◽  
Leap Motion ◽  
Robot Assisted ◽  
Robot Interaction ◽  
Program Flow ◽  
Relevant Topic ◽  
The Stability

In this analysis, we present results from measurements performed to determine the stability of a hand tracking system and the accuracy of the detected palm and finger’s position. Measurements were performed for the evaluation of the sensor for an application in an industrial robot-assisted assembly scenario. Human–robot interaction is a relevant topic in collaborative robotics. Intuitive and straightforward control tools for robot navigation and program flow control are essential for effective utilisation in production scenarios without unnecessary slowdowns caused by the operator. For the hand tracking and gesture-based control, it is necessary to know the sensor’s accuracy. For gesture recognition with a moving target, the sensor must provide stable tracking results. This paper evaluates the sensor’s real-world performance by measuring the localisation deviations of the hand being tracked as it moves in the workspace.

scholarly journals Virtual memory palaces: immersion aids recall

2018 ◽  
Vol 23 (1) ◽  
pp. 1-15 ◽  
Author(s):  
Eric Krokos ◽  
Catherine Plaisant ◽  
Amitabh Varshney
Keyword(s):  
Virtual Reality ◽  
Virtual Environments ◽  
Virtual Memory ◽  
Memory Recall ◽  
Head Tracking ◽  
Spatial Awareness ◽  
Head Mounted Display ◽  
Head Mounted Displays ◽  
Salient Features ◽  
Superior Memory

Abstract Virtual reality displays, such as head-mounted displays (HMD), afford us a superior spatial awareness by leveraging our vestibular and proprioceptive senses, as compared to traditional desktop displays. Since classical times, people have used memory palaces as a spatial mnemonic to help remember information by organizing it spatially and associating it with salient features in that environment. In this paper, we explore whether using virtual memory palaces in a head-mounted display with head-tracking (HMD condition) would allow a user to better recall information than when using a traditional desktop display with a mouse-based interaction (desktop condition). We found that virtual memory palaces in HMD condition provide a superior memory recall ability compared to the desktop condition. We believe this is a first step in using virtual environments for creating more memorable experiences that enhance productivity through better recall of large amounts of information organized using the idea of virtual memory palaces.

scholarly journals A Survey of Behavioral Models for Social Robots

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 54 ◽  
Author(s):  
Olivia Nocentini ◽  
Laura Fiorini ◽  
Giorgia Acerbi ◽  
Alessandra Sorrentino ◽  
Gianmaria Mancioppi ◽  
...  
Keyword(s):  
Web Of Science ◽  
Social Robots ◽  
Human Robot Interaction ◽  
Multiple Models ◽  
Behavioral Models ◽  
Cognitive Architectures ◽  
Robot Interaction ◽  
Exclusion Criteria ◽  
Pros And Cons

The cooperation between humans and robots is becoming increasingly important in our society. Consequently, there is a growing interest in the development of models that can enhance and enrich the interaction between humans and robots. A key challenge in the Human-Robot Interaction (HRI) field is to provide robots with cognitive and affective capabilities, by developing architectures that let them establish empathetic relationships with users. Over the last several years, multiple models were proposed to face this open-challenge. This work provides a survey of the most relevant attempts/works. In details, it offers an overview of the architectures present in literature focusing on three specific aspects of HRI: the development of adaptive behavioral models, the design of cognitive architectures, and the ability to establish empathy with the user. The research was conducted within two databases: Scopus and Web of Science. Accurate exclusion criteria were applied to screen the 4916 articles found. At the end, 56 articles were selected. For each work, an evaluation of the model is made. Pros and cons of each work are detailed by analyzing the aspects that can be improved to establish an enjoyable interaction between robots and users.

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