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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.
Comparing Non-Visual and Visual Guidance Methods for Narrow Field of View Augmented Reality Displays
(2020)
It is challenging to provide users with a haptic weight sensation of virtual objects in VR since current consumer VR controllers and software-based approaches such as pseudo-haptics cannot render appropriate haptic stimuli. To overcome these limitations, we developed a haptic VR controller named Triggermuscle that adjusts its trigger resistance according to the weight of a virtual object. Therefore, users need to adapt their index finger force to grab objects of different virtual weights. Dynamic and continuous adjustment is enabled by a spring mechanism inside the casing of an HTC Vive controller. In two user studies, we explored the effect on weight perception and found large differences between participants for sensing change in trigger resistance and thus for discriminating virtual weights. The variations were easily distinguished and associated with weight by some participants while others did not notice them at all. We discuss possible limitations, confounding factors, how to overcome them in future research and the pros and cons of this novel technology.
In diesem Artikel wird darüber berichtet, ob die Glaubwürdigkeit von Avataren als mögliches Modulationskriterium für die virtuelle Expositionstherapie von Agoraphobie in Frage kommt. Dafür werden mehrere Glaubwürdigkeitsstufen für Avatare, die hypothetisch einen Einfluss auf die virtuelle Expositionstherapie von Agoraphobie haben könnten sowie ein potentielles Expositionsszenario entwickelt. Die Arbeit kann innerhalb einer Studie einen signifikanten Einfluss der Glaubwürdigkeitsstufen auf Präsenz, Kopräsenz und Realismus aufzeigen.
When navigating larger virtual environments and computer games, natural walking is often unfeasible. Here, we investigate how alternatives such as joystick- or leaning-based locomotion interfaces ("human joystick") can be enhanced by adding walking-related cues following a sensory substitution approach. Using a custom-designed foot haptics system and evaluating it in a multi-part study, we show that adding walking related auditory cues (footstep sounds), visual cues (simulating bobbing head-motions from walking), and vibrotactile cues (via vibrotactile transducers and bass-shakers under participants' feet) could all enhance participants' sensation of self-motion (vection) and involement/presence. These benefits occurred similarly for seated joystick and standing leaning locomotion. Footstep sounds and vibrotactile cues also enhanced participants' self-reported ability to judge self-motion velocities and distances traveled. Compared to seated joystick control, standing leaning enhanced self-motion sensations. Combining standing leaning with a minimal walking-in-place procedure showed no benefits and reduced usability, though. Together, results highlight the potential of incorporating walking-related auditory, visual, and vibrotactile cues for improving user experience and self-motion perception in applications such as virtual reality, gaming, and tele-presence.
Recent studies have shown that through a careful combination of multiple sensory channels, so called multisensory binding effects can be achieved that can be beneficial for collision detection and texture recognition feedback. During the design of a new pen-input device called Tactylus, specific focus was put on exploring multisensory effects of audiotactile cues to create a new, but effective way to interact in virtual environments with the purpose to overcome several of the problems noticed in current devices.
In this paper, we report on four generations of display-sensor platforms for handheld augmented reality. The paper is organized as a compendium of requirements that guided the design and construction of each generation of the handheld platforms. The first generation, reported in [17]), was a result of various studies on ergonomics and human factors. Thereafter, each following iteration in the design-production process was guided by experiences and evaluations that resulted in new guidelines for future versions. We describe the evolution of hardware for handheld augmented reality, the requirements and guidelines that motivated its construction.
3D User Interfaces
(2005)
Environment monitoring using multiple observation cameras is increasingly popular. Different techniques exist to visualize the incoming video streams, but only few evaluations are available to find the best suitable one for a given task and context. This article compares three techniques for browsing video feeds from cameras that are located around the user in an unstructured manner. The techniques allow mobile users to gain extra information about the surroundings, the objects and the actors in the environment by observing a site from different perspectives. The techniques relate local and remote cameras topologically, via a tunnel, or via bird's eye viewpoint. Their common goal is to enhance spatial awareness of the viewer, without relying on a model or previous knowledge of the environment. We introduce several factors of spatial awareness inherent to multi-camera systems, and present a comparative evaluation of the proposed techniques with respect to spatial understanding and workload.