Abstract
Here we consider research on the kinds of sensory information most effective as feedback during remote control of machines, and the role of virtual reality and telepresence in that research. We argue that full automation is a distant goal and that remote control deserves continued attention and improvement. Visual feedback to controllers has developed in various ways but autostereoscopic displays have yet to be proven. Haptic force feedback, in both real and virtual settings, has been demonstrated to offer much to the remote control environment and has led to a greater understanding of the kinesthetic and cutaneous components of haptics, and their role in multimodal processes, such as sensory capture and integration. We suggest that many displays using primarily visual feedback would benefit from the addition of haptic information but that much is yet to be learned about optimizing such displays.
Similar content being viewed by others
References
Schmitt VR, Morris JW, Jenney GD (1998) Fly-by-wire. Society of Automotive Engineers Philadelphia
Wallace JC, Vodanovich SJ, Restino R (2003) Predicitng cognitive failures from boredom proneness and daytime sleepiness scores: an investigation within military and undergraduate samples. Pers Individ Dif 34:635–644
Diolaiti N, Melchiorri C (2002) Tele-operation of a mobile robot through haptic feedback. In: HAVE, IEEE international workshop on haptic virtual environments and their applications
Bjelland HV, Roed BK, Hoff T (2005) Studies on throttle sticks in high speed crafts—haptics in mechanical, electronic and haptic feedback interfaces. In: Proceedings of world haptics conference. IEEE Computer Society, Los Alamitos, pp 509–510
Rastogi A, Milgram P, Drascic D (1996) Telerobotic control with stereoscopic augmented reality. In: Bolas M, Fisher S, Merritt J (eds) Stereoscopic displays and virtual reality systems, vol III. Proc SPIE 2635:115–122
Gupta R, Sheridan T, Whitney D (1997) Experiments using multimodal virtual environments in design for assembly analysis. Presence Teleop Virtual Environ 6(3):318–338
Hainsworth DW (2001) Teleoperation user interfaces for mining robotics. Auton Robots 11(1):19–28
Elhajj I, Xi N, Fung WK, Liu YH, Li WJ, Kaga T, Fukuda T (2001) Haptic information in internet-based teleoperation. IEEE/ASME Transactions on Mechatronics 6(3): 295–304
Roberts JW, Slattery OT, Swope B, Volker M, Comstock T (2002) Small-scale tactile graphics for virtual reality systems. In: Woods AJ, Merrit JO, Benton SA, Bolas MT (eds) Stereoscopic displays and virtual reality systems, IX. Proc SPIE 4660:422–429
Grohn M (2002) Is audio useful in immersive visualization? In: Woods AJ, Merrit JO, Benton SA, Bolas MT (eds) Stereoscopic displays and virtual reality systems, IX. Proc SPIE 4660:411–421
Edwards GW, Barfield W, Nussbaum MA (2004) The use of force feedback and auditory cues for performance of an assembly task in an immersive virtual environment. Virtual Real 7:112–119
Sallnas EL Rassmus-Grohn K, Sjostrom C (2001) Supporting presence in collaborative environments by haptic feedback. ACM Trans Comput–Hum Interact 7(4):461–476
Kazi A (2001) Operator performance in surgical telemanipulation. Presence 10:495–510
Raspolli M, Avizzano CA, Facenza G, Bergamasco M (2005) HERMES: an angioplasty surgery simulator. In: Proceedings of world haptics conference. IEEE Computer Society, Los Alamitos, pp 148–156
Jiang L, Girotra R, Cutkosky MR, Ullrich C (2005) Reducing error rates with low-cost haptic feedback in virtual reality-based training applications. In: Proceedings of world haptics conference. IEEE Computer Society, Los Alamitos, pp 420–425
White BW, Saunders FA, Scadden L, Bach-y-Rita P, Collins CC (1970) Seeing with the skin. Percept Psychophys 7:23–27
Kennedy JM, Richardson BL, Magee LE (1980) The nature of haptics. In: Hagen M (ed) The perception of pictures. Academic, New York
Baier H, Buss M, Freyberger F, Hoogen J, Kammermeier P, Schmidt G (1999) Distributed PC-based haptic, visual and acoustic telepresence system experiments in virtual and remote environments. In: Proceedings of IEEE virtual reality conference, p 118
Miner N, Gillespie B, Caudell T (1996) Examining the influence of audio and visual stimuli on a haptic interface. In: Proceedings IMAGE conference, pp 23–35
Grane C, Bengtsson P (2005) Menu selection with a rotary device founded on haptic and/or graphic information. In: Proceedings of world haptics conference. IEEE Computer Society, Los Alamitos, pp 475–476
Palmer S (2002) Vision sciences. Bradford Books Cambridge
Goldstein BE (1999) Sensation and perception 5th edn. Brooks Cole, Pacific Grove
Bradshaw MF, Elliot KM, Watt SJ, Davies IR (2002) Do observers exploit binocular disparity information in motor tasks within dynamic telepresence environments? In: Woods AJ, Merrit JO, Benton SA, Bolas MT (eds) Stereoscopic displays and virtual reality systems, IX. Proc SPIE 4660:331–342
Schmit A, Grasnik A (2002) Multiviewpoint autostereoscopic displays from 4D-vision. In: Woods AJ, Merrit JO, Benton SA, Bolas MT (eds) Stereoscopic displays and virtual reality systems, IX. Proc SPIE 4660:212–221
Perlin K, Paxia S, Kollin J (2000) An autostereoscopic display. In: Proceedings of SIG-GRAPH, ACM conference on computer graphics and interactive techniques, pp 319–326
McKnight S, Melder N, Barrow AL, Harwin WS, Wann JP (2005) Perceptual cues for orientation in a two finger haptic grasp task. In: Proceedings of World Haptics Conference. IEEE Computer Society, Los Alamitos, pp 549–550
Richardson BL, Wuillemin DB, Symmons MA (2004) Sensory feedback and remote control of machines in mining and extraterrestrial environments. J Aust Inst Mining Metall 2:53–56
Woods A (2003) Seeing in depth at depth. Newsletter of the Centre for Marine Science & Technology, Sept. Available at: http://www.cmst.curtin.edu.au/brochures/cmstnewsletter4.pdf
Kugah DA (1972) Experiments evaluating compliance and force feedback effect on manipulator performance. Genral Elec Corp NASA – CR 128605 Philadelphia
Gunn C, Hutchins M, Adcock M, Hawkins R (2003) Trans-world Haptic collaboration, In: Proceedings of the SIGGRAPH Conference, Sketches and Applications, p 1
Oakley I, O’Modhrain S (2005) Tilt to scroll: evaluating a motion based vibrotactile mobile interface. In: Proceedings of World Haptics Conference. IEEE Computer Society, Los Alamitos, pp 40–49
Nojima T, Funabiki K (2005) Cockpit display using tactile sensations. In: Proceedings of World Haptics Conference. IEEE Computer Society, Los Alamitos, pp 501–502
Bhargava A, Scott M, Traylor R, Chung R, Mrozek K, Wolter J, Tan HZ (2005) Effect of cognitive load on tactor location identification in zero-g. In: Proceedings of World Haptics Conference. IEEE Computer Society, Los Alamitos, pp 56–62
Rauterberg M (1999) New directions in user-system interaction: augmented reality, ubiquitous and mobile computing. In: Proceedings of IEEE symposium on human interfacing, pp 105–133
Lindeman RW, Sibert JL, Mendez-Mendez E, Patil S, Phifer D (2005) Effectiveness of directional vibrotactile cuing on a building-clearing task. In: Proceedings of ACM CHI, pp 271–280
Richardson BL, Wuillemin DB, Saunders F (1978) Tactile discrimination of competing sounds. Percept Psychophys 24: 546–550
Hoffman H, Groen J, Rousseau S, Hollander A, Winn W, Wells M, Furness T (1996) Tactile augmentation: enhancing presence in virtual reality with tactile feedback from real objects. In: Meeting of the American Psychological Society, San Francisco. Available at: http://www.hitl.washington.edu/publications/p-96–1/
McGrath BJ, Estrada A, Braithwaite MG, Raj AK, Rupert AH, (2004). Tactile situation awareness system flight demonstration final report USAARL Report 2004–10, March
See details of cybergrasp at: http://www.immersion.com/3d/products/cyber_grasp.php
Richardson BL, Wuillemin DB, Symmons MA, Accardi R (2005) The Exograsp delivers tactile and kinaesthetic information about virtual objects. In: IEEE Tencon conference, November, Melbourne
Kammermeier P, Kron A, Hoogen J, Schmit G (2004) Display of holistic sensation by combined tactile and kinaesthetic feedback. Presence 13(1):1–15
Seay AF, Krum DM, Hodges L, Ribarsky W (2001) Simulator sickness and presence in a high FOV virtual environment. In: Proceedings of the virtual reality 2001 conference, pp 299–300
Stott R (2002) Interaction between the senses: vision and the vestibular system. In: Roberts D (ed) Signals and perception. Palgrave Macmillan, New York
McGurk H, MacDonald T (1976) Hearing lips and seeing voices. Nature 264:746–748
Kohlers P, von Grunau M (1976) Shape and color in apparent motion. Vis Res 16:329–335
Soto-Faraco S, Spence C, Kingstone A (2004) Cross-modal dynamic capture: congruency effects in the perception of motion across sensory modalities. J Exp Psychol Hum Percept Perform 30(2):330–345
Shiffman HR (1996) Sensation and perception, 4th edn. Wiley, New York
Heller MA (1983) Haptic dominance in form perception with blurred vision. Perception 122:607–613
Soto-Faraco S, Kingstone A (2004) Multisensory integration of dynamic information. In: Calvert G, Spence C, Stein B (eds) Handbook of multisensory processes. MIT Press Cambridge
Caclin A, Soto-Faraco S, Kingstone A, Spence C (2002) Tactile “capture” of audition. Percept Psychophys 18:55–60
Richardson BL, Symmons MA, Accardi R (2000) The TDS: A new device for comparing active and passive-guided touch. IEEE Trans Rehabilit Eng 8:414–417
Symmons MA, Richardson BL, Wuillemin DB, VanDoorn GH (2005) Kinaesthetic and cutaneous contributions to raised-line stimulus interpretation. In: World haptics conference, 18–20 March, Pisa. Video clip at http://www-personal.monash.edu.au/~msymmons/images/6_9_qt.mov
Magee LE, Kennedy JM (1980) Exploring pictures tactually. Nature (London) 283:287
Richardson BL, Symmons M, Wuillemin DB (2004) The relative importance of cutaneous and kinesthetic cues in raised line drawing exploration. In: Ballesteros S, Heller MA (eds) Touch, blindness, and neuroscience. Universidad Nacional de Educación a Distancia, Madrid, pp 247–250
Symmons M, Richardson BL, Wuillemin DB (2004) Active versus passive touch: Superiority depends more on the task than the mode. In: Ballesteros S, Heller MA (eds) Touch, blindness, and neuroscience. Universidad Nacional de Educación a Distancia, Madrid, pp 179–185
Wuillemin DB, VanDoorn GH, Richardson BL, Symmons MA (2005) Haptic and visual size judgements in virtual and real environments. In: Proceedings of world haptics conference. IEEE Computer Society, Los Alamitos, pp 86–89
Sarter N (1998) Turning automation into a teamplayer: The development of multisensory and graded feedback for highly automated (flight deck) systems. Willard Airport Aviation Research Lab, http://www.nsfworkshop.engr.ucf.edu/papers/Sarter.asp/
Lee S, Sukhatme GS, Kim GJ, Park C (2005) Haptic teleoperation of a mobile robot: a user study. Presence 14(3):345–365
Bliss JC, Katcher MH, Roger CH, Shepard R (1970) Optical-to-tactile image conversion for the blind. IEEE Trans Man–Mach Syst MMS-11:58–64
Brooks PL, Frost BJ, Mason JL, Gibson DM (1987) Word and feature identification by profoundly deaf teenagers using the Queen’s University Tactile Vocoder. J Speech Hear Res 30:137–141
Geldard FA (1966) Cutaneous coding of optical signals: the Optohapt. Percept Psychophys 1:377–381
Richardson BL, Frost BJ (1977) Sensory substitution and the design of an artificial ear. J Psychol 96:259–285
Gallace A, Tan HZ, Spence C (2005) Tactile change detection. In: Proceedings of world haptics conference. IEEE Computer Society, Los Alamitos, pp 12–16
van Erp JBF (2005) Vibrotactile spatial acuity on the torso: effects of location and timing parameters. In: Proceedings of world haptics conference. IEEE Computer Society, Los Alamitos, pp 80–85
Acknowledgements
The research conducted at the Bionics and Cognitive Science Centre of Monash University was supported by a grant from the Australian Commonwealth Government’s Sustainable Regions Programme.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Richardson, B., Symmons, M. & Wuillemin, D. The contribution of virtual reality to research on sensory feedback in remote control. Virtual Reality 9, 234–242 (2006). https://doi.org/10.1007/s10055-006-0020-z
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10055-006-0020-z