Effects of haptic feedback, stereoscopy, and image resolution on performance and presence in remote navigation

International Journal of Human Computer Studies

Volumn 66, Issue 10, 2008, Pages 701-717

  Lee, Sangyoon ^a   Kim, Gerard Jounghyun ^a  

^a Korea University   (South Korea)

Author keywords

Haptic feedback; Mobile robot; Presence; Remote navigation; Teleoperation; Telepresence; User study

Indexed keywords

FELT; FELTS; FLOW INTERACTIONS; FOOD PROCESSING; IMAGE ENHANCEMENT; LAWS AND LEGISLATION; MOBILE ROBOTS; NAVIGATION; REGRESSION ANALYSIS; ROBOTICS; ROBOTS; SPACE PROBES; UNDERWATER ACOUSTICS; VISUAL COMMUNICATION;

CONTRIBUTING FACTOR; FORCE-FEEDBACK; HAPTIC FEEDBACK; HAPTIC FEEDBACKS; HAPTIC INFORMATION; HIGH-RESOLUTION IMAGES; MOBILE ROBOT; MULTIPLE REGRESSION ANALYSIS; PRESENCE; RANGE INFORMATION; REAL-WORLD ENVIRONMENTS; REMOTE ENVIRONMENTS; REMOTE NAVIGATION; SONAR ARRAYS; STEREO CAMERAS; STEREOSCOPIC IMAGING; SUBJECTIVE SENSATION; TASK PERFORMANCES; TELE OPERATIONS; TELEOPERATION; TELEPRESENCE; USER EXPERIENCE; USER STUDY; VISUAL ELEMENTS;

IMAGE RESOLUTION;

ACOUSTICS; FELTS; FOOD; NAVIGATIONAL EQUIPMENT; PROCESSING; REMOTE CONTROL; ROBOTS;

EID: 50349084257     PISSN: 10715819     EISSN: 10959300     Source Type: Journal    
DOI: 10.1016/j.ijhcs.2008.05.001     Document Type: Article

References (72)

1. Allison, R.S., Zacher, J.E., Wang, D., Shu, J., 2004. Effects of network delay on a collaborative motor task with telehaptic and televisual feedback. In: Proceedings of the ACM SIGGRAPH International Conference on Virtual Reality Continuum and Its Application in Industry (VRCAI 2004), Singapore, pp. 375-381.
2. Ando, N., Lee, J.-H., Hashimoto, H., 1999. A study on influence of time delay in teleoperation. In: Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, GA, USA, pp. 317-322.
3. Arai, T., Ogata, H., Suzuki, T., 1989. Collision avoidance among multiple robots using virtual impedance. In: Proceedings of IEEE/RSJ International Workshop on Intelligent Robots and Systems (IROS '89), Tskuba, Japan, pp. 479-485.
4. Barfield W., Baird K.M., and Bjorneseth O.J. Presence in virtual environments as a function of type of input device and display update rate. Displays 19 2 (1998) 91-98
5. Barnes D., and Counsell M. Haptic communication for mobile robot operations. Industrial Robot: An International Journal 30 6 (2003) 552-563
6. Bejczy, A., Salisbury, J., 1980. Kinematic coupling between operator and remote manipulator. In: Proceedings of ASME International Computer Technology Conference. Advances in Computer Technology, vol. 1, San Francisco, CA, USA, pp. 197-211.
7. Bowman D.A., Davis E.T., Hodges L.F., and Badre A.N. Maintaining spatial orientation during travel in an immersive virtual environment. Presence: Teleoperators and Virtual Environments 8 6 (1999) 618-631
8. Bracken C.C. Presence and image quality: the case of high-definition television. Media Psychology 7 2 (2005) 191-205
9. Bystrom K.-E., Barfield W., and Hendrix C. A conceptual model of the sense of presence in virtual environments. Presence: Teleoperators and Virtual Environments 8 2 (1999) 241-244
10. Conover W.J. Practical Nonparametric Statistics. third ed (1999), Wiley, New York
11. Cutting, J.E., Vishton, P.M., 1995. Perceiving layout and knowing distances: the integration, relative potency, and contextual use of different information about depth. In: Epstein, W., Rogers, S. (Eds.), Handbook of Perception and Cognition. Perception of Space and Motion, vol. 5. Academic Press, San Diego, CA, USA, pp. 69-117.
12. Daniel R.W., Fisher P.J., and McAree P.R. Force feedback control in robots and its application to decommissioning. In: Gray J.O., and Caldwell D.G. (Eds). Advanced Robotics and Intelligent Machines (1996), IEE, London, UK 71-88
13. Diner, D., 1991. Danger of collisions for tele-operated navigation due to erroneous perceived depth accelerations in 3-D television. In: Proceedings of Annual Meeting of the American Nuclear Society.
14. Diolaiti, N., Melchiorri, C., 2003. Haptic tele-operation of a mobile robot. In: Proceedings of the Seventh IFAC Symposium on Robot Control (SYROCO 2003), Wroclaw, Poland.
15. Draper J.V. Teleoperators for advanced manufacturing: applications and human factors challenges. International Journal of Human Factors in Manufacturing 5 1 (1995) 53-85
16. Elhajj I., Xi N., Fung W.K., Liu Y.H., Li W.J., Kaga T., and Fukuda T. Haptic information in internet-based teleoperation. IEEE/ASME Transactions on Mechatronics 6 3 (2001) 295-304
17. Fong T., Thorpe C., and Bauer C. Advanced interfaces for vehicle teleoperation: collaborative control, sensor fusion displays, and remote driving tools. Autonomous Robots 11 1 (2001) 77-85
18. Freeman J., Avons S.E., Meddis R., Pearson D., and Ijsselsteijn W. Using behavioral realism to estimate presence: a study of the utility of postural responses to motion stimuli. Presence: Teleoperators and Virtual Environments 9 2 (2000) 149-164
19. Hannaford B., Wood L., McAffee D., and Zak H. Performance evaluation of a six-axis generalized force reflecting teleoperator. IEEE Transactions on Systems, Man, and Cybernetics 21 3 (1991) 620-633
20. Hassan-Zadeh, I., Janabi-Sharifi, F., Akhavan, M.R., Yang, X., 2005. Internet-based teleoperation of a mobile robot using shared impedance control scheme: a pilot study. In: Proceedings of the 2005 IEEE Conference on Control Applications, Toronto, Canada, pp. 346-351.
21. Heeter C. Being there: the subjective experience of presence. Presence: Teleoperators and Virtual Environments 1 2 (1992) 262-271
22. Ijsselsteijn W., de Ridder H., Freeman J., Avons S.E., and Bouwhuis D. Effects of stereoscopic presentation, image motion, and screen size on subjective and objective corroborative measures of presence. Presence: Teleoperators and Virtual Environments 10 3 (2001) 298-311
23. Jin, T., Lee, J., Hashimoto, H., 2004. Internet-based obstacle avoidance of mobile robot using a force-reflection. In: Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '04), Sendai, Japan, pp. 3418-3423.
24. Kaber, D.B., Riley, J.M., 2000. Task difficulty and user motivation effects on performance, and telepresence in a teleoperation task. In: Proceedings of the Third International Conference on Engineering Psychology and Cognitive Ergonomics, Ashgate, Aldershot, UK.
25. Kaber, D.B., Riley, J.M., Zhou, R., Draper, J.V., 2000. Effects of visual interface design, and control mode and latency on performance, telepresence and workload in a teleoperation task. In: Proceedings of the XIVth Triennial Congress of the International Ergonomics Association/44th Annual Meeting of the Human Factors and Ergonomics Society, San Diego, CA, USA.
26. Kazi A. Operator performance in surgical telemanipulation. Presence: Teleoperators and Virtual Environments 10 5 (2001) 495-510
27. Keppel G. Design and Analysis: A Researcher's Handbook. third ed (1991), Prentice-Hall Inc., Upper Saddle River, NJ, USA
28. Kim, T., Biocca, F., 1997. Telepresence via television: two dimensions of telepresence may have different connections to memory and persuasion. Journal of Computer-Mediated Communication 3 (2). Available from 〈http://jcmc.indiana.edu/vol3/issue2/kim.html〉.
29. Lawson B.D., Graeber D.A., and Mead A.M. Signs and symptoms of human syndromes associated with synthetic experiences. In: Stanney K.M. (Ed). Handbook of Virtual Environments: Design, Implementation, and Applications (2002), Lawrence Erlbaum Associates, Inc., Mahwah, NJ, USA 589-618
30. Lee, S., 2005. Effects of haptic feedback and visual elements on presence and performance in remote navigation. Unpublished Doctoral Dissertation, POSTECH, South Korea.
31. Lee, S., Kim, G.J., Sukhatme, G.S., Park, C.-M., 2004. Effects of haptic feedback on telepresence and navigational performance. In: Proceedings of the 14th International Conference on Artificial Reality and Telexistence (ICAT 2004), Seoul, Korea.
32. Lee S., Sukhatme G.S., Kim G.J., and Park C.-M. Haptic teleoperation of a mobile robot: a user study. Presence: Teleoperators and Virtual Environments 14 3 (2005) 345-365
33. Ma R., and Kaber D.B. Presence, workload and performance effects of synthetic environment design factors. International Journal of Human-Computer Studies 64 6 (2006) 541-552
34. Massie, T.H., Salisbury, J.K., 1994. The phantom haptic interface: a device for probing virtual objects. In: Proceedings of the ASME Winter Annual Meeting: Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, vol. DSC 55-1, Chicago, IL, USA, pp. 295-302.
35. Mills S., and Noyes J. Virtual reality: an overview of user-related design issues. Interacting with Computers 11 4 (1999) 375-386 Revised paper for special issue on "Virtual reality: User Issues" in Interacting with Computers, May 1998
36. MobileRobots Inc., 2001. P3-DX. Available from 〈http://www.activrobots.com/ROBOTS/p2dx.html〉.
37. Nash E.B., Edwards G.W., Thompson J.A., and Barfield W. A review of presence and performance in virtual environments. International Journal of Human-Computer Interaction 12 1 (2000) 1-41
38. Neuman, W.R., 1990. Beyond HDTV: exploring subjective responses to very high definition television. A Research Report for GTE Labs and the TVOT Consortium, MIT, Cambridge, MA, USA.
39. Ota, J., Arai, T., Yoshida, E., Kurabayashi, D., Mori, T., 1995. Real time planning method for multiple mobile robots. In: Proceedings of IEEE International Symposium on Assembly and Task Planning, Pittsburgh, PA, USA, pp. 406-411.
40. Panasonic Corp., 2002. WM-61A Microphone Cartridges. Available from 〈http://www.panasonic.com/industrial/components/pdf/em06_wm61_a_b_dne.pdf〉.
41. Paulos E., and Canny J. Ubiquitous tele-embodiment: applications and implications. International Journal of Human-Computer Studies 46 6 (1997) 861-877
42. Peer, A., Unterhinninghofen, U., Lee, K.-K., Stanczyk, B., Buss, M., 2005. Haptic telemanipulation in extensive remote environments. In: Proceedings of Joint International COE/HAM-SFB453 Workshop on Human Adaptive Mechatronics and High Fidelity Telepresence, Tokyo, Japan, pp. 57-62.
43. Pennebaker W.B., and Mitchell J.L. JPEG: Still Image Data Compression Standard (1993), Van Nostrand Reinhold, New York, USA
44. Point Grey Research Inc., 2002. Dragonfly. Available from 〈http://www.ptgrey.com/products/dragonfly/index.asp〉.
45. Richardson B., Symmons M., and Wuillemin D. The contribution of virtual reality to research on sensory feedback in remote control. Virtual Reality 9 (2006) 234-242
46. Robles-De-La-Torre G. The importance of the sense of touch in virtual and real environments. IEEE Multimedia 13 3 (2006) 24-30
47. Rösch O.J., Schilling K., and Roth H. Haptic interfaces for the remote control of mobile robots. Control Engineering Practice 10 11 (2002) 1309-1313
48. Ruddle R.A., Payne S.J., and Jones D.M. Navigating large-scale "desk-top" virtual buildings: effects of orientation aids and familiarity. Presence: Teleoperators and Virtual Environments 7 2 (1998) 179-192
49. Sallnäs E.-L., Rassmus-Gröhn K., and Sjöström C. Supporting presence in collaborative environments by haptic force feedback. ACM Transactions on Computer-Human Interaction 7 4 (2000) 461-476
50. Schuemie, M.J., van der Mast, C.A., 1999. Presence: interacting in virtual reality? In: Proceedings of the Twente Workshop on Language Technology 15 (TWLT 15): Interactions in Virtual Worlds, Enschede, Netherlands, pp. 213-217.
51. Schuemie M.J., van der Straaten P., Krijn M., and van der Mast C.A. Research on presence in virtual reality: a survey. CyberPsychology and Behavior 4 2 (2001) 183-202
52. Seuntiens P., Meesters L., and Ijsselsteijn W. Perceived quality of compressed stereoscopic images: effects of symmetric and asymmetric JPEG coding and camera separation. ACM Transactions on Applied Perception 3 2 (2007) 95-109
53. Sheridan T.B. Telerobotics, Automation, and Human Supervisory Control (1992), MIT Press, Cambridge, MA, USA
54. Sheridan T.B. Musings on telepresence and virtual presence. Presence: Teleoperators and Virtual Environments 1 1 (1992) 120-126
55. Sheridan T.B. Defining our terms. Presence: Teleoperators and Virtual Environments 1 2 (1992) 272-274
56. Slater, M., 2002. Do avatars dream of digital sheep? Virtual people and the sense of presence. Unpublished Slides from IEEE VR 2002 Keynote Address, Orlando, FL, USA.
57. Slater M., and Steed A. A virtual presence counter. Presence: Teleoperators and Virtual Environments 9 5 (2000) 413-434
58. Slater M., and Wilbur S. A framework for immersive virtual environments (FIVE): speculations on the role of presence in virtual environments. Presence: Teleoperators and Virtual Environments 6 6 (1997) 603-616
59. Srinivasan M.A., and Basdogan C. Haptics in virtual environments: taxonomy, research status, and challenges. Computers & Graphics 21 4 (1997) 393-404
60. Stanney K.M., Mollaghasemi M., Reeves L., Breaux R., and Graeber D.A. Usability engineering of virtual environments (VEs): identifying multiple criteria that drive effective VE system design. International Journal of Human-Computer Studies 58 4 (2003) 447-481
61. Steuer J. Defining virtual reality: dimensions determining telepresence. Journal of Communication 42 4 (1992) 72-93
62. Stone, R.J., 2000. Haptic feedback: a potted history, from telepresence to virtual reality. In: Proceedings of the 1st International Workshop on Haptic Human-Computer Interaction, Glasgow, Scotland, Lecture Notes in Computer Science, vol. 2058, Springer, Berlin, pp. 1-16.
63. Strunk, L.M., Iwamoto, T., 1990. A linearly-mapping stereoscopic visual interface for teleoperation. In: Proceedings of the International Workshop on Intelligent Robots and Systems (IROS '90).
64. Tharp, G., Liu, A., French, L., Lai, S., Stark, L., 1992. Timing considerations of helmet mounted display performance. In: Proceedings of the SPIE Conference on Human Vision, Visual Processing, and Digital Display III, San Jose, CA, USA, pp. 570-576.
65. Tittle, J., Roesler, A., Woods, D.D., 2002. The remote perception problem. In: Proceedings of the Human Factors and Ergonomics Society 46th Annual Meeting, Baltimore, MD, USA.
66. Van der Straaten, P., 2000. Interaction affecting the sense of presence in virtual reality. Research Task Final Report, Delft University of Technology-Faculty of Information Technology and Systems. Available from 〈http://graphics.tudelft.nl/~vrphobia/intpres.pdf〉.
67. VNVNET Inc., 2002. 4D4M-S Series. Available from 〈http://www.vnvnet.com〉.
68. Welch R.B., Blackmon T.T., Liu A., Mellers B., and Stark L.W. The effects of pictorial realism, delay of visual feedback, and observer interactivity on the subjective sense of presence. Presence: Teleoperators and Virtual Environments 5 3 (1996) 263-273
69. Williams, L.E.P., Loftin, R.B., Aldridge, H.A., Leiss, E.L., Bluethmann, W.J., 2002. Kinesthetic and visual force display for telerobotics. In: Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA '02), Washington, DC, USA, pp. 1249-1254.
70. Witmer B.G., and Singer M.J. Measuring presence in virtual environments: a presence questionnaire. Presence: Teleoperators and Virtual Environments 7 3 (1998) 225-240
71. Woods, A., Docherty, T., Koch, R., 1993. Image distortions in stereoscopic video systems. In: Proceedings of the SPIE, vol. 1915, Stereoscopic Displays and Applications IV, San Jose, CA.
72. Woods D.D., Tittle J., Feil M., and Roesler A. Envisioning human-robot coordination for future operations. IEEE Transactions on Systems, Man, and Cybernetics, Part C 34 2 (2004) 210-218