A study of bidirectionally telepresent tele-action during robot-mediated handover

Jianqiao Li, Zhi Li, Kris Hauser

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The addition of manipulation capabilities to telepresence robots holds the promise of enabling remote humans to perform tele-labor, hands-on training, and collaborative manipulation, but the use of a robot as a mediator to humanhuman physical interaction is not yet well understood. This paper studies the impact of telepresence modalities in the context of robot-mediated object handover. A teleoperation system was developed involving a bimanual mobile manipulator with telepresence head and sensing capabilities, and a user study was conducted with n=10 pairs of subjects under a variety of audio and visual telepresence conditions. Results show that telepresence does not significantly affect objective handover fluency, but both audio and video telepresence do significantly improve user experience on subjective measures including intimacy and perceived fluency.

Original languageEnglish (US)
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2890-2896
Number of pages7
ISBN (Electronic)9781509046331
DOIs
StatePublished - Jul 21 2017
Externally publishedYes
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
Duration: May 29 2017Jun 3 2017

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period5/29/176/3/17

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Li, J., Li, Z., & Hauser, K. (2017). A study of bidirectionally telepresent tele-action during robot-mediated handover. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 2890-2896). [7989335] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989335