Assessment of a user centered interface for teleoperation and 3D environments

摘要

The efficient, natural and precise selection and manipulation of nearby objects in 3D environments is yet a challenge in the area of 3D interaction. Robot teleoperation is a potential application field for this kind of interaction and a difficult task. In part due to the low quality of the information delivered to the operator, but also because of the non-natural interfaces used to operate the robot. This paper presents a direct 3D user interface based on visual and haptic feedback that can be correctly operated by untrained users. The interface offers a higher level of presence than the average existing solutions, and involves the use of the operator's primary hand to control a robotic arm using a Phantom device. Spatial awareness, in turn, is obtained from stereoscopic vision and motion parallax effect. The main contribution though is an assessment study to investigate which interface elements maximize user performance and if any interface elements is counter-effective. Surprising results show that parallax is the most effective feature while stereoscopy is often detrimental and force feedback requires training.