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首页> 外文期刊>International journal of human-computer studies >Effects of haptic feedback, stereoscopy, and image resolution on performance and presence in remote navigation
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Effects of haptic feedback, stereoscopy, and image resolution on performance and presence in remote navigation

机译：触觉反馈，立体视觉和图像分辨率对远程导航中的性能和状态的影响

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Traditionally, the main goal of teleoperation has been to successfully achieve a given task as if performing the task in local space. An emerging and related requirement is to also match the subjective sensation or the user experience of the remote environment, while maintaining reasonable task performance. This concept is often called "presence" or "(experiential) telepresence," which is informally defined as "the sense of being in a mediated environment." In this paper, haptic feedback is considered as an important element for providing improved presence and reasonable task performance in remote navigation. An approach for using haptic information to "experientially" teleoperate a mobile robot is described. Haptic feedback is computed from the range information obtained by a sonar array attached to the robot, and delivered to a user's hand via a haptic probe. This haptic feedback is provided to the user, in addition to stereoscopic images from a forward-facing stereo camera mounted on the mobile robot. The experiment with a user population in a real-world environment showed that haptic feedback significantly improved both task performance and user-felt presence. When considering user-felt presence, no interaction among haptic feedback, image resolution, and stereoscopy was observed, that is, haptic feedback was effective, regardless of the fidelity of visual elements. Stereoscopic images also significantly improved both task performance and user-felt presence, but high-resolution images only significantly improved user-felt presence. When considering task performance, however, it was found that there was an interaction between haptic feedback and stereoscopy, that is, stereoscopic images were only effective when no force feedback was applied. According to the multiple regression analysis, haptic feedback was a higher contributing factor to the improvement in performance and presence than image resolution and stereoscopy. Crown Copyright (C) 2008 Published by Elsevier Ltd. All rights reserved.
机译：传统上，远程操作的主要目标是成功地完成给定任务，就像在本地空间中执行任务一样。一个新兴的相关要求是在保持合理的任务性能的同时，匹配远程环境的主观感受或用户体验。这个概念通常称为“出席”或“（体验）远程出席”，非正式地定义为“处于中介环境中的感觉”。在本文中，触觉反馈被认为是在远程导航中提供改进的状态和合理的任务性能的重要元素。描述了一种使用触觉信息来“体验”遥控移动机器人的方法。触觉反馈是根据由附着在机器人上的声纳阵列获得的距离信息计算出来的，并通过触觉探头传递到用户的手。除了来自安装在移动机器人上的前向立体摄像机的立体图像之外，还向用户提供该触觉反馈。在真实环境中对用户群进行的实验表明，触觉反馈显着改善了任务性能和用户感觉。考虑用户感觉的存在时，无论视觉元素的保真度如何，都没有观察到触觉反馈，图像分辨率和立体视觉之间的相互作用，也就是说，触觉反馈是有效的。立体图像还显着改善了任务性能和用户感觉，但是高分辨率图像仅显着改善了用户感觉。但是，在考虑任务执行时，发现触觉反馈和立体视觉之间存在交互作用，也就是说，立体图像仅在未施加力反馈时才有效。根据多元回归分析，与图像分辨率和立体镜相比，触觉反馈是改善性能和外观的重要因素。 Crown版权所有（C）2008，由Elsevier Ltd.发行。保留所有权利。

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