Virtual reality for safe testing and development in collaborative robotics: challenges and perspectives

Collaborative robots (cobots) could help humans in tasks that are mundane, dangerous or where direct human contact carries risk. Yet, the collaboration between humans and robots is severely limited by the aspects of the safety and comfort of human operators. In this paper, we outline the use of extended reality (XR) as a way to test and develop collaboration with robots. We focus on virtual reality (VR) in simulating collaboration scenarios and the use of cobot digital twins. This is specifically useful in situations that are difficult or even impossible to safely test in real life, such as dangerous scenarios. We describe using XR simulations as a means to evaluate collaboration with robots without putting humans at harm. We show how an XR setting enables combining human behavioral data, subjective self-reports, and biosignals signifying human comfort, stress and cognitive load during collaboration. Several works demonstrate XR can be used to train human operators and provide them with augmented reality (AR) interfaces to enhance their performance with robots. We also provide a first attempt at what could become the basis for a human–robot collaboration testing framework, specifically for designing and testing factors affecting human–robot collaboration. The use of XR has the potential to change the way we design and test cobots, and train cobot operators, in a range of applications: from industry, through healthcare, to space operations.info:eu-repo/semantics/publishedVersio

Virtual reality retooling humanities courses: Finance and marketing experience at a Czech university

Virtual reality environments (VRE) allow users to visualize both real-life and imaginary activities. For this reason, they make appropriate training fields at universities, too. However, the positive or negative effects of VRE are still a subject of research. There is a need to verify methods of their deployment, student responses and the impact of VRE implementation. Science and medicine courses are frequently exploiting VRE, while their exploitation in humanities is much less frequent. In our paper, we describe and evaluate their application in finance and marketing courses. Both courses were designed and developed as part of a larger, potentially university-wide project. The courses were enriched by mazes including 3-D rooms with course content elements. Students could explore them and communicate with their lecturers and classmates. To allow anytime/anywhere access, the VRE does not require using any special interface. The finance course was organized as a pedagogical experiment with test and control groups. Due to organizational and scheduling reasons, the VRE in marketing served just as enrichment. At the end of the term, all students using VRE were given a questionnaire assessing their satisfaction. The majority expressed satisfaction. In the finance course, positive opinion was also supported by students' improved grades. In total, 87.5% of students agreed that the application of VRE contributed to gaining knowledge. Based on the positive experience and outcomes, the university plans to expand and to intensify its VRE-supported education.Web of Science1219art. no. 1017

Improving Stimulus Realism: The effect of visual dimension on affective responding

For decades researchers have used 2D stimuli under the assumption that they accurately represent real objects. This assumption has been challenged by recent vision and neuroeconomics research which has found that 2D images can evoke different neural and behavioural responses than real objects. The current study continues this line of research in the field of affective cognitive neuroscience; a field where small effect sizes are common and rapid habituation to affective stimuli used in the lab often occurs. The present study uses realistic 2D and 3D emotional images to determine the impact of visual dimension on affective responding. Subjective ratings revealed a perceptual advantage for 3D images which were rated more realistic and received some higher ratings of emotion than 2D images. Conversely, there were no differences in psychophysiological responding (i.e. skin conductance and electromyography) between 2D and 3D images. The implications of these results and future directions are discussed

Depth, shading, and stylization in stereoscopic cinematography

Due to the constantly increasing focus of the entertainment industry on stereoscopic imaging, techniques and tools that enable precise control over the depth impression and help to overcome limitations of the current stereoscopic hardware are gaining in importance. In this dissertation, we address selected problems encountered during stereoscopic content production, with a particular focus on stereoscopic cinema. First, we consider abrupt changes of depth, such as those induced by cuts in films. We derive a model predicting the time the visual system needs to adapt to such changes and propose how to employ this model for film cut optimization. Second, we tackle the issue of discrepancies between the two views of a stereoscopic image due to view-dependent shading of glossy materials. The suggested solution eliminates discomfort caused by non-matching specular highlights while preserving the perception of gloss. Last, we deal with the problem of filmgrainmanagement in stereoscopic productions and propose a new method for film grain application that reconciles visual comfort with the idea of medium-scene separation.Aufgrund der ständig steigenden Beachtung der stereoskopische Abbildung durch die Unterhaltungsindustrie, gewinnen Techniken und Werkzeuge an Bedeutung, die eine präzise Steuerung der Tiefenwahrnehmung ermöglichen und Einschränkungen der gegenwärtigen stereoskopischen Geräte überwinden. In dieser Dissertation adressieren wir ausgewählte Probleme, die während der Erzeugung von stereoskopischen Inhalten auftreten, mit besonderem Schwerpunkt auf der stereoskopischen Kinematographie. Zuerst betrachten wir abrupte Tiefenänderungen, wie sie durch Filmschnitte hervergerufen werden. Wir leiten ein Modell her, das die Zeit vorhersagt, die für das menschliche Sehsystem notwendig ist, um sich an solche Änderungen der Tiefe zu adaptieren, und schlagen vor wie dieses Modell für Schnittoptimierung angewendet werden kann. Danach gehen wir das Problem der Unstimmigkeiten zwischen den zwei Ansichten eines stereoskopischen Bildes, infolge der sichtabhängigen Schattierung von glänzenden Materialien, an. Die vorgeschlagene Lösung eliminiert das visuelle Unbehagen, welches von nicht zusammenpassenden Glanzlichtern verursacht wird, indessen bewahrt sie die Glanzwahrnehmung. Zuletzt behandeln wir das Problem des Filmkornsmanagements in stereoskopischen Produktionen und schlagen eine neue Methode für das Hinzufügen vom Filmkorn vor, die die visuelle Behaglichkeit mit der Idee der Medium-Szenen-Trennung in Einklang bringt

Material Visualisation for Virtual Reality: The Perceptual Investigations

Material representation plays a significant role in design visualisation and evaluation. On one hand, the simulated material properties determine the appearance of product prototypes in digitally rendered scenes. On the other hand, those properties are perceived by the viewers in order to make important design decisions. As an approach to simulate a more realistic environment, Virtual Reality (VR) provides users a vivid impression of depth and embodies them into an immersive environment. However, the scientific understanding of material perception and its applications in VR is still fairly limited. This leads to this thesis’s research question on whether the material perception in VR is different from that in traditional 2D displays, as well as the potential of using VR as a design tool to facilitate material evaluation.       This thesis is initiated from studying the perceptual difference of rendered materials between VR and traditional 2D viewing modes. Firstly, through a pilot study, it is confirmed that users have different perceptual experiences of the same material in the two viewing modes. Following that initial finding, the research investigates in more details the perceptual difference with psychophysics methods, which help in quantifying the users’ perceptual responses. Using the perceptual scale as a measuring means, the research analyses the users’ judgment and recognition of the material properties under VR and traditional 2D display environments. In addition, the research also elicits the perceptual evaluation criteria to analyse the emotional aspects of materials. The six perceptual criteria are in semantic forms, including rigidity, formality, fineness, softness, modernity, and irregularity.       The results showed that VR could support users in making a more refined judgment of material properties. That is to say, the users perceive better the minute changes of material properties under immersive viewing conditions. In terms of emotional aspects, VR is advantageous in signifying the effects induced by visual textures, while the 2D viewing mode is more effective for expressing the characteristics of plain surfaces. This thesis has contributed to the deeper understanding of users’ perception of material appearances in Virtual Reality, which is critical in achieving an effective design visualisation using such a display medium