This work presents a user-study evaluation of various visual and haptic feedback modes on a real telemanipulation platform. Of particular interest is the potential for haptic guidance virtual fixtures and 3D-mapping techniques to enhance efficiency and awareness in a simple teleoperated valve turn task. An RGB-Depth camera is used to gather real-time color and geometric data of the remote scene, and the operator is presented with either a monocular color video stream, a 3D-mapping voxel representation of the remote scene, or the ability to place a haptic guidance virtual fixture to help complete the telemanipulation task. The efficacy of the feedback modes is then explored experimentally through a user study, and the different modes are compared on the basis of objective and subjective metrics. Despite the simplistic task and numerous evaluation metrics, results show that the haptic virtual fixture resulted in significantly better collision avoidance compared to 3D visualization alone. Anticipated performance enhancements were also observed moving from 2D to 3D visualization. Remaining comparisons lead to exploratory inferences that inform future direction for focused and statistically significant studies.

中文翻译：

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远程操纵中的触觉指导虚拟装置和3D可视化方法的评估-用户研究

这项工作提出了在真实的远程操纵平台上各种视觉和触觉反馈模式的用户研究评估。特别令人感兴趣的是触觉引导虚拟固定装置和3D映射技术的潜力，以在简单的遥控气门旋转任务中提高效率和认知度。RGB深度相机用于收集远程场景的实时颜色和几何数据，向操作员显示单目彩色视频流，远程场景的3D映射体素表示或放置的能力触觉指导虚拟装置，以帮助完成遥控操作。然后，通过用户研究实验性地探索反馈模式的功效，并根据客观和主观指标对不同的模式进行比较。尽管任务很简单并且有许多评估指标，但结果表明，与单独的3D可视化相比，触觉虚拟夹具可显着提高避撞效果。从2D到3D可视化也观察到了预期的性能增强。剩下的比较会产生探索性推论，为有重点和具有统计意义的研究提供未来方向。