Augmenting Immersive Telepresence Experience with a Virtual Body

We propose augmenting immersive telepresence by adding a virtual body, representing the user's own arm motions, as realized through a head-mounted display and a 360-degree camera. Previous research has shown the effectiveness of having a virtual body in simulated environments; however, research on whether seeing one's own virtual arms increases presence or preference for the user in an immersive telepresence setup is limited. We conducted a study where a host introduced a research lab while participants wore a head-mounted display which allowed them to be telepresent at the host's physical location via a 360-degree camera, either with or without a virtual body. We first conducted a pilot study of 20 participants, followed by a pre-registered 62 participant confirmatory study. Whereas the pilot study showed greater presence and preference when the virtual body was present, the confirmatory study failed to replicate these results, with only behavioral measures suggesting an increase in presence. After analyzing the qualitative data and modeling interactions, we suspect that the quality and style of the virtual arms, and the contrast between animation and video, led to individual differences in reactions to the virtual body which subsequently moderated feelings of presence.Comment: Accepted for publication in Transactions in Visualization and Computer Graphics (TVCG), to be presented in IEEE VR 202

Eye-Tracking-Based Classification of Information Search Behavior Using Machine Learning: Evidence from Experiments in Physical Shops and Virtual Reality Shopping Environments

Classifying information search behavior helps tailor recommender systems to individual customers’ shopping motives. But how can we identify these motives without requiring users to exert too much effort? Our research goal is to demonstrate that eye tracking can be used at the point of sale to do so. We focus on two frequently investigated shopping motives: goal-directed and exploratory search. To train and test a prediction model, we conducted two eye-tracking experiments in front of supermarket shelves. The first experiment was carried out in immersive virtual reality; the second, in physical reality—in other words, as a field study in a real supermarket. We conducted a virtual reality study, because recently launched virtual shopping environments suggest that there is great interest in using this technology as a retail channel. Our empirical results show that support vector machines allow the correct classification of search motives with 80% accuracy in virtual reality and 85% accuracy in physical reality. Our findings also imply that eye movements allow shopping motives to be identified relatively early in the search process: our models achieve 70% prediction accuracy after only 15 seconds in virtual reality and 75% in physical reality. Applying an ensemble method increases the prediction accuracy substantially, to about 90%. Consequently, the approach that we propose could be used for the satisfiable classification of consumers in practice. Furthermore, both environments’ best predictor variables overlap substantially. This finding provides evidence that in virtual reality, information search behavior might be similar to the one used in physical reality. Finally, we also discuss managerial implications for retailers and companies that are planning to use our technology to personalize a consumer assistance system

Exploring Robot Teleoperation in Virtual Reality

This thesis presents research on VR-based robot teleoperation with a focus on remote environment visualisation in virtual reality, the effects of remote environment reconstruction scale in virtual reality on the human-operator's ability to control the robot and human-operator's visual attention patterns when teleoperating a robot from virtual reality. A VR-based robot teleoperation framework was developed, it is compatible with various robotic systems and cameras, allowing for teleoperation and supervised control with any ROS-compatible robot and visualisation of the environment through any ROS-compatible RGB and RGBD cameras. The framework includes mapping, segmentation, tactile exploration, and non-physically demanding VR interface navigation and controls through any Unity-compatible VR headset and controllers or haptic devices. Point clouds are a common way to visualise remote environments in 3D, but they often have distortions and occlusions, making it difficult to accurately represent objects' textures. This can lead to poor decision-making during teleoperation if objects are inaccurately represented in the VR reconstruction. A study using an end-effector-mounted RGBD camera with OctoMap mapping of the remote environment was conducted to explore the remote environment with fewer point cloud distortions and occlusions while using a relatively small bandwidth. Additionally, a tactile exploration study proposed a novel method for visually presenting information about objects' materials in the VR interface, to improve the operator's decision-making and address the challenges of point cloud visualisation. Two studies have been conducted to understand the effect of virtual world dynamic scaling on teleoperation flow. The first study investigated the use of rate mode control with constant and variable mapping of the operator's joystick position to the speed (rate) of the robot's end-effector, depending on the virtual world scale. The results showed that variable mapping allowed participants to teleoperate the robot more effectively but at the cost of increased perceived workload. The second study compared how operators used a virtual world scale in supervised control, comparing the virtual world scale of participants at the beginning and end of a 3-day experiment. The results showed that as operators got better at the task they as a group used a different virtual world scale, and participants' prior video gaming experience also affected the virtual world scale chosen by operators. Similarly, the human-operator's visual attention study has investigated how their visual attention changes as they become better at teleoperating a robot using the framework. The results revealed the most important objects in the VR reconstructed remote environment as indicated by operators' visual attention patterns as well as their visual priorities shifts as they got better at teleoperating the robot. The study also demonstrated that operators’ prior video gaming experience affects their ability to teleoperate the robot and their visual attention behaviours

Coaching Imagery to Athletes with Aphantasia

We administered the Plymouth Sensory Imagery Questionnaire (Psi-Q) which tests multi-sensory imagery, to athletes (n=329) from 9 different sports to locate poor/aphantasic (baseline scores <4.2/10) imagers with the aim to subsequently enhance imagery ability. The low imagery sample (n=27) were randomly split into two groups who received the intervention: Functional Imagery Training (FIT), either immediately, or delayed by one month at which point the delayed group were tested again on the Psi-Q. All participants were tested after FIT delivery and six months post intervention. The delayed group showed no significant change between baseline and the start of FIT delivery but both groups imagery score improved significantly (p=0.001) after the intervention which was maintained six months post intervention. This indicates that imagery can be trained, with those who identify as having aphantasia (although one participant did not improve on visual scores), and improvements maintained in poor imagers. Follow up interviews (n=22) on sporting application revealed that the majority now use imagery daily on process goals. Recommendations are given for ways to assess and train imagery in an applied sport setting

Presence 2005: the eighth annual international workshop on presence, 21-23 September, 2005 University College London (Conference proceedings)

OVERVIEW (taken from the CALL FOR PAPERS) Academics and practitioners with an interest in the concept of (tele)presence are invited to submit their work for presentation at PRESENCE 2005 at University College London in London, England, September 21-23, 2005. The eighth in a series of highly successful international workshops, PRESENCE 2005 will provide an open discussion forum to share ideas regarding concepts and theories, measurement techniques, technology, and applications related to presence, the psychological state or subjective perception in which a person fails to accurately and completely acknowledge the role of technology in an experience, including the sense of 'being there' experienced by users of advanced media such as virtual reality. The concept of presence in virtual environments has been around for at least 15 years, and the earlier idea of telepresence at least since Minsky's seminal paper in 1980. Recently there has been a burst of funded research activity in this area for the first time with the European FET Presence Research initiative. What do we really know about presence and its determinants? How can presence be successfully delivered with today's technology? This conference invites papers that are based on empirical results from studies of presence and related issues and/or which contribute to the technology for the delivery of presence. Papers that make substantial advances in theoretical understanding of presence are also welcome. The interest is not solely in virtual environments but in mixed reality environments. Submissions will be reviewed more rigorously than in previous conferences. High quality papers are therefore sought which make substantial contributions to the field. Approximately 20 papers will be selected for two successive special issues for the journal Presence: Teleoperators and Virtual Environments. PRESENCE 2005 takes place in London and is hosted by University College London. The conference is organized by ISPR, the International Society for Presence Research and is supported by the European Commission's FET Presence Research Initiative through the Presencia and IST OMNIPRES projects and by University College London

Behavioural morphisms in virtual environments

One of the largest application domains for Virtual Reality lies in simulating the Real World. Contemporary applications of virtual environments include training devices for surgery, component assembly and maintenance, all of which require a high fidelity reproduction of psychomotor skills. One extremely important research question in this field is: "How closely does our facsimile of a real task in a virtual environment reproduce that Task?" At present the field of Virtual Reality is answering this question in subjective terms by the concept of presence and in objective terms by measures of task performance or training effectiveness ratios. [Continues.

Modelado de sensores piezoresistivos y uso de una interfaz basada en guantes de datos para el control de impedancia de manipuladores robóticos

Tesis inédita de la Universidad Complutense de Madrid, Facultad de Ciencias Físicas, Departamento de Arquitectura de Computadores y Automática, leída el 21-02-2014Sección Deptal. de Arquitectura de Computadores y Automática (Físicas)Fac. de Ciencias FísicasTRUEunpu