TY - GEN
T1 - A study of bidirectionally telepresent tele-action during robot-mediated handover
AU - Li, Jianqiao
AU - Li, Zhi
AU - Hauser, Kris
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/21
Y1 - 2017/7/21
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85027987191&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85027987191&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2017.7989335
DO - 10.1109/ICRA.2017.7989335
M3 - Conference contribution
AN - SCOPUS:85027987191
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2890
EP - 2896
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -