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The study of locomotion in virtual environments is a diverse and rewarding research area. Yet, creating effective and intuitive locomotion techniques is challenging, especially when users cannot move around freely. While using handheld input devices for navigation may often be good enough, it does not match our natural experience of motion in the real world. Frequently, there are strong arguments for supporting body-centered self-motion cues as they may improve orientation and spatial judgments, and reduce motion sickness. Yet, how these cues can be introduced while the user is not moving around physically is not well understood. Actuated solutions such as motion platforms can be an option, but they are expensive and difficult to maintain. Alternatively, within this article we focus on the effect of upper-body tilt while users are seated, as previous work has indicated positive effects on self-motion perception. We report on two studies that investigated the effects of static and dynamic upper body leaning on perceived distances traveled and self-motion perception (vection). Static leaning (i.e., keeping a constant forward torso inclination) had a positive effect on self-motion, while dynamic torso leaning showed mixed results. We discuss these results and identify further steps necessary to design improved embodied locomotion control techniques that do not require actuated motion platforms.
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.