Hand- And gaze-control of telepresence robots

Guangtao Zhang; John Paulin Hansen; Katsumi Minakata

doi:10.1145/3317956.3318149

Hand- And gaze-control of telepresence robots

Guangtao Zhang, John Paulin Hansen, Katsumi Minakata

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

Abstract

Mobile robotic telepresence systems are increasingly used to promote social interaction between geographically dispersed people. People with severe motor disabilities may use eye-gaze to control a telepresence robots. However, use of gaze control for navigation of robots needs to be explored. This paper presents an experimental comparison between gaze-controlled and hand-controlled telepresence robots with a head-mounted display. Participants (n = 16) had similar experience of presence and self-assessment, but gaze control was 31% slower than hand control. Gaze-controlled robots had more collisions and higher deviations from optimal paths. Moreover, with gaze control, participants reported a higher workload, a reduced feeling of dominance, and their situation awareness was significantly degraded. The accuracy of their post-trial reproduction of the maze layout and the trial duration were also significantly lower.

Original language	English
Title of host publication	Proceedings of the 11th ACM Symposium on Eye Tracking Research & Applications
Publisher	Association for Computing Machinery
Publication date	2019
Article number	70
ISBN (Print)	978-1-4503-6709-7
DOIs	https://doi.org/10.1145/3317956.3318149
Publication status	Published - 2019
Event	ETRA ´19 - Denver, United States Duration: 25 Jun 2019 → 28 Jun 2019

Conference

Conference	ETRA ´19
Country	United States
City	Denver
Period	25/06/2019 → 28/06/2019

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title = "Hand- And gaze-control of telepresence robots",

abstract = "Mobile robotic telepresence systems are increasingly used to promote social interaction between geographically dispersed people. People with severe motor disabilities may use eye-gaze to control a telepresence robots. However, use of gaze control for navigation of robots needs to be explored. This paper presents an experimental comparison between gaze-controlled and hand-controlled telepresence robots with a head-mounted display. Participants (n = 16) had similar experience of presence and self-assessment, but gaze control was 31% slower than hand control. Gaze-controlled robots had more collisions and higher deviations from optimal paths. Moreover, with gaze control, participants reported a higher workload, a reduced feeling of dominance, and their situation awareness was significantly degraded. The accuracy of their post-trial reproduction of the maze layout and the trial duration were also significantly lower.",

author = "Guangtao Zhang and Hansen, {John Paulin} and Katsumi Minakata",

year = "2019",

doi = "10.1145/3317956.3318149",

language = "English",

isbn = "978-1-4503-6709-7",

booktitle = "Proceedings of the 11th ACM Symposium on Eye Tracking Research & Applications",

publisher = "Association for Computing Machinery",

address = "United States",

note = "ETRA ´19 ; Conference date: 25-06-2019 Through 28-06-2019",

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T1 - Hand- And gaze-control of telepresence robots

AU - Zhang, Guangtao

AU - Hansen, John Paulin

AU - Minakata, Katsumi

PY - 2019

Y1 - 2019

N2 - Mobile robotic telepresence systems are increasingly used to promote social interaction between geographically dispersed people. People with severe motor disabilities may use eye-gaze to control a telepresence robots. However, use of gaze control for navigation of robots needs to be explored. This paper presents an experimental comparison between gaze-controlled and hand-controlled telepresence robots with a head-mounted display. Participants (n = 16) had similar experience of presence and self-assessment, but gaze control was 31% slower than hand control. Gaze-controlled robots had more collisions and higher deviations from optimal paths. Moreover, with gaze control, participants reported a higher workload, a reduced feeling of dominance, and their situation awareness was significantly degraded. The accuracy of their post-trial reproduction of the maze layout and the trial duration were also significantly lower.

AB - Mobile robotic telepresence systems are increasingly used to promote social interaction between geographically dispersed people. People with severe motor disabilities may use eye-gaze to control a telepresence robots. However, use of gaze control for navigation of robots needs to be explored. This paper presents an experimental comparison between gaze-controlled and hand-controlled telepresence robots with a head-mounted display. Participants (n = 16) had similar experience of presence and self-assessment, but gaze control was 31% slower than hand control. Gaze-controlled robots had more collisions and higher deviations from optimal paths. Moreover, with gaze control, participants reported a higher workload, a reduced feeling of dominance, and their situation awareness was significantly degraded. The accuracy of their post-trial reproduction of the maze layout and the trial duration were also significantly lower.

U2 - 10.1145/3317956.3318149

DO - 10.1145/3317956.3318149

M3 - Article in proceedings

SN - 978-1-4503-6709-7

BT - Proceedings of the 11th ACM Symposium on Eye Tracking Research & Applications

PB - Association for Computing Machinery

T2 - ETRA ´19

Y2 - 25 June 2019 through 28 June 2019

ER -