Supporting Perception of Weight through Motion-induced Sensory Conflicts in Robot Teleoperation

In this paper, we design and evaluate a novel form of visually-simulated haptic feedback cue for communicating weight in robot teleoperation. We propose that a visuo-proprioceptive cue results from inconsistencies created between the user's visual and proprioceptive senses when the robot's movement differs from the movement of the user's input. In a user study where participants teleoperate a six-DoF robot arm, we demonstrate the feasibility of using such a cue for communicating weight in four telemanipulation tasks to enhance user experience and task performance.

[1]  Bilge Mutlu,et al.  A Motion Retargeting Method for Effective Mimicry-Based Teleoperation of Robot Arms , 2017, 2017 12th ACM/IEEE International Conference on Human-Robot Interaction (HRI.

[2]  Barbara Deml,et al.  A Study on Visual, Auditory, and Haptic Feedback for Assembly Tasks , 2004, Presence: Teleoperators & Virtual Environments.

[3]  G. Norman.  Likert scales, levels of measurement and the “laws” of statistics , 2010, Advances in health sciences education : theory and practice.

[4]  Elia Gatti,et al.  Pseudo-Haptic Weight: Changing the Perceived Weight of Virtual Objects By Manipulating Control-Display Ratio , 2019, CHI.

[5]  Wendy Ju,et al.  Good vibrations: How consequential sounds affect perception of robotic arms , 2017, 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN).

[6]  Anatole Lécuyer,et al.  Simulating Haptic Feedback Using Vision: A Survey of Research and Applications of Pseudo-Haptic Feedback , 2009, PRESENCE: Teleoperators and Virtual Environments.

[7]  Anatole Lécuyer,et al.  A study of the modification of the speed and size of the cursor for simulating pseudo-haptic bumps and holes , 2008, TAP.

[8]  Katherine J. Kuchenbecker,et al.  VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery , 2010, EuroHaptics.

[9]  S. Hart,et al.  Development of NASA-TLX (Task Load Index): Results of Empirical and Theoretical Research , 1988 .

[10]  Angelica I. Avilés-Rivero,et al.  Sensory Substitution for Force Feedback Recovery , 2018, ACM Trans. Appl. Percept..

[11]  Anatole Lécuyer,et al.  Pseudo-haptics: from the theoretical foundations to practical system design guidelines , 2011, ICMI '11.

[12]  Atulya K. Nagar,et al.  Wearable Vibrotactile Haptic Device for Stiffness Discrimination during Virtual Interactions , 2017, Front. Robot. AI.

[13]  D. W. Joyce,et al.  Kinematic cues in perceptual weight judgement and their origins in box lifting , 2007, Psychological research.

[14]  Simon Richir,et al.  Influence of control/display ratio on the perception of mass of manipulated objects in virtual environments , 2005, IEEE Proceedings. VR 2005. Virtual Reality, 2005..

[15]  Giulio Sandini,et al.  Understanding Object Weight from Human and Humanoid Lifting Actions , 2014, IEEE Transactions on Autonomous Mental Development.

[16]  Anca D. Dragan,et al.  Expressive Robot Motion Timing , 2017, 2017 12th ACM/IEEE International Conference on Human-Robot Interaction (HRI.

[17]  S. Runeson,et al.  Visual perception of lifted weight. , 1981, Journal of experimental psychology. Human perception and performance.

[18]  Geoffrey P. Bingham,et al.  Scaling Judgments of Lifted Weight: Lifter Size and the Role of the Standard , 1993 .

[19]  James Everett Young,et al.  It’s All in Your Head: Using Priming to Shape an Operator’s Perceptions and Behavior during Teleoperation , 2018, 2018 13th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[20]  D. Yuh,et al.  Effect of sensory substitution on suture-manipulation forces for robotic surgical systems. , 2005, The Journal of thoracic and cardiovascular surgery.

[21]  Claudio Pacchierotti,et al.  Cutaneous Force Feedback as a Sensory Subtraction Technique in Haptics , 2011, IEEE Transactions on Haptics.

[22]  Dik J. Hermes,et al.  Usability of optically simulated haptic feedback , 2008, Int. J. Hum. Comput. Stud..

[23]  S. Swinnen,et al.  Observing how others lift light or heavy objects: Which visual cues mediate the encoding of muscular force in the primary motor cortex? , 2010, Neuropsychologia.

[24]  James Carifio,et al.  Resolving the 50‐year debate around using and misusing Likert scales , 2008, Medical education.

[25]  Allison M. Okamura,et al.  Force Feedback and Sensory Substitution for Robot-Assisted Surgery , 2011 .

[26]  Giulio Sandini,et al.  Communicative lifting actions in human-humanoid interaction , 2014, 2014 IEEE-RAS International Conference on Humanoid Robots.

[27]  Bilge Mutlu,et al.  Communicating Directionality in Flying Robots , 2015, 2015 10th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[28]  Bilge Mutlu,et al.  RelaxedIK: Real-time Synthesis of Accurate and Feasible Robot Arm Motion , 2018, Robotics: Science and Systems.

[29]  Abderrahmane Kheddar,et al.  Pseudo-haptic feedback: can isometric input devices simulate force feedback? , 2000, Proceedings IEEE Virtual Reality 2000 (Cat. No.00CB37048).

[30]  L G Carlton,et al.  Perception of Kinematic Characteristics in the Motion of Lifted Weight. , 1997, Journal of motor behavior.