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Title: 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.
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Award ID(s):
Publication Date:
Journal Name:
HRI '20: Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction
Page Range or eLocation-ID:
509 to 517
Sponsoring Org:
National Science Foundation
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