TY - GEN
T1 - Analysis of User Preferences for Robot Motions in Immersive Telepresence
AU - Mimnaugh, Katherine J.
AU - Suomalainen, Markku
AU - Becerra, Israel
AU - Lozano, Eliezer
AU - Murrieta-Cid, Rafael
AU - Lavalle, Steven M.
N1 - This work was supported in part by the Business Finland Project HUMORcc 6926/31/2018, in part by the Academy of Finland Project PERCEPT, 322637, in part by the US National Science Foundation under Grants 035345 and 1328018, and in part by the Secretaría de Innovación, Ciencia Y Educación Superior SICES under Grant SICES/CONV/250/2019 CIMAT. (Corresponding author: Katherine Mimnaugh.) 1Katherine Mimnaugh, Markku Suomalainen, and Steven LaValle are with the Center of Ubiquitous Computing, Faculty of Information Technology and Electrical Engineering, University of Oulu, Finland (e-mail: [email protected]).
PY - 2021
Y1 - 2021
N2 - This paper considers how the motions of a telepresence robot moving autonomously affect a person immersed in the robot through a head-mounted display. In particular, we explore the preference, comfort, and naturalness of elements of piecewise linear paths compared to the same elements on a smooth path. In a user study, thirty-six subjects watched panoramic videos of three different paths through a simulated museum in virtual reality and responded to questionnaires regarding each path. Preference for a particular path was influenced the most by comfort, forward speed, and characteristics of the turns. Preference was also strongly associated with the users' perceived naturalness, which was primarily determined by the ability to see salient objects, the distance to the walls and objects, as well as the turns. Participants favored the paths that had a one meter per second forward speed and rated the path with the least amount of turns as the most comfortable.
AB - This paper considers how the motions of a telepresence robot moving autonomously affect a person immersed in the robot through a head-mounted display. In particular, we explore the preference, comfort, and naturalness of elements of piecewise linear paths compared to the same elements on a smooth path. In a user study, thirty-six subjects watched panoramic videos of three different paths through a simulated museum in virtual reality and responded to questionnaires regarding each path. Preference for a particular path was influenced the most by comfort, forward speed, and characteristics of the turns. Preference was also strongly associated with the users' perceived naturalness, which was primarily determined by the ability to see salient objects, the distance to the walls and objects, as well as the turns. Participants favored the paths that had a one meter per second forward speed and rated the path with the least amount of turns as the most comfortable.
UR - https://www.scopus.com/pages/publications/85115683592
UR - https://www.scopus.com/pages/publications/85115683592#tab=citedBy
U2 - 10.1109/IROS51168.2021.9636852
DO - 10.1109/IROS51168.2021.9636852
M3 - Conference contribution
AN - SCOPUS:85115683592
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4252
EP - 4259
BT - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Y2 - 27 September 2021 through 1 October 2021
ER -