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Augmented Reality (AR) technologies present an exciting new medium for human-robot interactions, enabling new opportunities for both implicit and explicit human-robot communication. For example, these technologies enable physically-limited robots to execute non-verbal interaction patterns such as deictic gestures despite lacking the physical morphology necessary to do so. However, a wealth of HRI research has demonstrated real benefits to physical embodiment (compared to, e.g., virtual robots on screens), suggesting AR augmentation of virtual robot parts could face challenges.In this work, we present empirical evidence comparing the use of virtual (AR) and physical arms to perform deictic gestures that identify virtual or physical referents. Our subjective and objective results demonstrate the success of mixed reality deictic gestures in overcoming these potential limitations, and their successful use regardless of differences in physicality between gesture and referent. These results help to motivate the further deployment of mixed reality robotic systems and provide nuanced insight into the role of mixed-reality technologies in HRI contexts.
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Investigating the Effects of Avatarization and Interaction Techniques on Near-field Mixed Reality Interactions with Physical Components
Mixed reality (MR) interactions feature users interacting with a combination of virtual and physical components. Inspired by research investigating aspects associated with near-field interactions in augmented and virtual reality (AR & VR), we investigated how avatarization, the physicality of the interacting components, and the interaction technique used to manipulate a virtual object affected performance and perceptions of user experience in a mixed reality fundamentals of laparoscopic peg-transfer task wherein users had to transfer a virtual ring from one peg to another for a number of trials. We employed a 3 (Physicality of pegs) X 3 (Augmented Avatar Representation) X 2 (Interaction Technique) multi-factorial design, manipulating the physicality of the pegs as a between-subjects factor, the type of augmented self-avatar representation, and the type of interaction technique used for object-manipulation as within-subjects factors. Results indicated that users were significantly more accurate when the pegs were virtual rather than physical because of the increased salience of the task-relevant visual information. From an avatar perspective, providing users with a reach envelope-extending representation, though useful, was found to worsen performance, while co-located avatarization significantly improved performance. Choosing an interaction technique to manipulate objects depends on whether accuracy or efficiency is a priority. Finally, the relationship between the avatar representation and interaction technique dictates just how usable mixed reality interactions are deemed to be.
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- Award ID(s):
- 2007435
- PAR ID:
- 10527839
- Publisher / Repository:
- IEEE
- Date Published:
- Journal Name:
- IEEE Transactions on Visualization and Computer Graphics
- Volume:
- 30
- Issue:
- 5
- ISSN:
- 1077-2626
- Page Range / eLocation ID:
- 2756 to 2766
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1109/TVCG.2024.3372050
