Supporting Perception of Weight through Motion-induced Sensory Conflicts in Robot Teleoperation

Abstract

In this paper, we design and evaluate a novel form of visually-simulated haptic feedback cue for communicating weight in robot teleoperation. We propose that a visuo-proprioceptive cue results from inconsistencies created between the user’s visual and proprioceptive senses when the robot’s movement differs from the movement of the user’s input. In a user study where participants teleoperate a six-DoF robot arm, we demonstrate the feasibility of using such a cue for communicating weight in four telemanipulation tasks to enhance user experience and task performance.

DOI: 10.1145/3319502.3374841

Bibtex

@inproceedings{praveena2020supporting,
	doi = {10.1145/3319502.3374841},
	url = {https://doi.org/10.1145%2F3319502.3374841},
	year = {2020},
	month = {March},
	publisher = {{ACM}},
	author = {Pragathi Praveena and Daniel Rakita and Bilge Mutlu and Michael Gleicher},
	title = {{Supporting Perception of Weight through Motion-induced Sensory Conflicts in Robot Teleoperation}},
	booktitle = {Proceedings of the 2020 {ACM}/{IEEE} International Conference on Human-Robot Interaction},
	pages = {509--517},
}