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Peripersonal Space Tele-Operation in Virtual Reality: The Role of Tactile - Force Feedback

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Haptic Interaction (AsiaHaptics 2022)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 14063))

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Abstract

In tele-operated human-robot collaboration, a human operator typically engages with a distant physical environment through a robotic system equipped with multiple sensors and actuators, allowing for haptic-based precise manipulation. Although these technical systems have been in use for years, the connection between multisensory perception and action in peripersonal space during tele-operations remains less understood. To delve deeper into this relationship, we examined distance perception in virtual peripersonal space. Participants wore an HTC Vive head-mounted display (HMD) featuring integrated eye-tracking (SMI) and moved a comparison object (a yellow ball) towards a target object (a blue ball) using a Geomagic Touch haptic device stylus, receiving either force feedback (‘closed-loop’) or no force feedback (‘open loop’) during the operation. They were instructed to focus on fixation points while performing the task, with SMI eye-tracking monitoring their gaze. The spatial positions of the comparison and target objects were arranged in four layouts: (i) center-to-center, (ii) center-to-peripheral (20 degrees in visual eccentricity), (iii) peripheral-to-center, and (iv) peripheral-to-peripheral. We employed seven distance levels between the objects in Experiment 1 and five distance levels in Experiment 2, using consistent methods of stimuli presentation. The findings revealed that estimation errors were significantly influenced by force feedback, spatial arrangement, and distance. Crucially, the visibility of the movement trajectory enhanced the effectiveness of tactile force feedback. Overall, this study proposes a potential guideline for human-computer ergonomic design, emphasizing the importance of force feedback for accurate targeting.

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Acknowledgements

This study was funded by STI2030-Major Projects 2021ZD0202600 and Sino-German Crossmodal Learning Project from Natural Science Foundation of China (Grant No. 62061136001).

Author information

Authors and Affiliations

  1. School of Psychological and Cognitive Sciences and Beijing Key Laboratory of Behavior and Mental Health, Peking University, Beijing, 100871, China

    Yiru Liu & Lihan Chen

  2. Key Laboratory of Machine Perception (Ministry of Education), Peking University, Beijing, 100871, China

    Yiru Liu & Lihan Chen

  3. Department of Informatics, Universität Hamburg, Hamburg, Germany

    Nicholas Katzakis & Frank Steinicke

  4. National Engineering Laboratory for Big Data Analysis and Applications, Peking University, Beijing, 100871, China

    Lihan Chen

Authors
  1. Yiru Liu
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  2. Nicholas Katzakis
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  3. Frank Steinicke
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  4. Lihan Chen
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Corresponding author

Correspondence to Lihan Chen .

Editor information

Editors and Affiliations

  1. Beihang University, Beijing, China

    Dangxiao Wang

  2. Southeast University, Nanjing, China

    Aiguo Song

  3. Dalian University of Technology, Dalian, China

    Qian Liu

  4. Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Ki-Uk Kyung

  5. Tohoku University, Sendai, Japan

    Masashi Konyo

  6. The University of Electro-Communications, Tokyo, Tokyo, Japan

    Hiroyuki Kajimoto

  7. Peking University, Beijing, China

    Lihan Chen

  8. Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea (Republic of)

    Jee-Hwan Ryu

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Liu, Y., Katzakis, N., Steinicke, F., Chen, L. (2023). Peripersonal Space Tele-Operation in Virtual Reality: The Role of Tactile - Force Feedback. In: Wang, D., et al. Haptic Interaction. AsiaHaptics 2022. Lecture Notes in Computer Science, vol 14063. Springer, Cham. https://doi.org/10.1007/978-3-031-46839-1_13

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  • DOI: https://doi.org/10.1007/978-3-031-46839-1_13

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  • Publisher Name: Springer, Cham

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  • Online ISBN: 978-3-031-46839-1

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