@inproceedings{JonesMaieroMogharrabetal.2020,
  author    = {Brennan Jones and Jens Maiero and Alireza Mogharrab and Ivan A. Aguilar and Ashu Adhikari and Bernhard E. Riecke and Ernst Kruijff and Carman Neustaedter and Robert W. Lindeman},
  title     = {FeetBack: Augmenting Robotic Telepresence with Haptic Feedback on the Feet},
  series = {ICMI '20: International Conference on Multimodal Interaction, Virtual Event, the Netherlands, October 25-29, 2020},
  publisher = {Association for Computing Machinery},
  address   = {New York, NY, USA},
  isbn      = {978-1-4503-7581-8},
  doi       = {10.1145/3382507.3418820},
  pages     = {194 -- 203},
  year      = {2020},
  abstract  = {Telepresence robots allow people to participate in remote spaces, yet they can be difficult to manoeuvre with people and obstacles around. We designed a haptic-feedback system called “FeetBack,\" which users place their feet in when driving a telepresence robot. When the robot approaches people or obstacles, haptic proximity and collision feedback are provided on the respective sides of the feet, helping inform users about events that are hard to notice through the robot’s camera views. We conducted two studies: one to explore the usage of FeetBack in virtual environments, another focused on real environments.We found that FeetBack can increase spatial presence in simple virtual environments. Users valued the feedback to adjust their behaviour in both types of environments, though it was sometimes too frequent or unneeded for certain situations after a period of time. These results point to the value of foot-based haptic feedback for telepresence robot systems, while also the need to design context-sensitive haptic feedback.},
  language  = {en}
}