This paper presents some early work and future plans regarding how the autonomous motions of a telepresence robot affect a person embodied in the robot through a head-mounted display. We consider the preferences, comfort, and the perceived naturalness of aspects of piecewise linear paths compared to the same aspects on a smooth path. In a user study, thirty-six subjects (eighteen females) watched panoramic videos of three different paths through a simulated museum in virtual reality and responded to questionnaires regarding each path. We found that comfort had a strong effect on path preference, and that the subjective feeling of naturalness also had a strong effect on path preference, even though people consider different things as natural. We describe a categorization of the responses regarding the naturalness of the robot's motion and provide a recommendation on how this can be applied more broadly. Although immersive robotic telepresence is increasingly being used for remote education, clinical care, and to assist people with disabilities or mobility complications, the full potential of this technology is limited by issues related to user experience. Our work addresses these shortcomings and will enable the future personalization of telepresence experiences for the improvement of overall remote communication and the enhancement of the feeling of presence in a remote location.

中文翻译：

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从第一人称视角定义沉浸式网真中的首选机器人动作和自然动作

本文介绍了一些关于远程呈现机器人的自主运动如何通过头戴式显示器影响机器人中所体现的人的早期工作和未来计划。与平滑路径上的相同方面相比，我们考虑了分段线性路径各方面的偏好，舒适度和感知的自然性。在一项用户研究中，三十六名受试者（十八名女性）通过虚拟现实中的模拟博物馆观看了三种不同路径的全景视频，并对有关每种路径的问卷进行了回复。我们发现舒适度对路径偏好有很大的影响，而自然的主观感觉对路径偏好也有很大的影响，即使人们认为不同的事物都是自然的。我们描述了有关机器人自然反应的分类。的议案，并就如何更广泛地应用它提供建议。尽管沉浸式机器人远程呈现越来越多地用于远程教育，临床护理以及协助残障人士或行动不便的人，但该技术的全部潜力受到与用户体验有关的问题的限制。我们的工作解决了这些缺陷，并将使将来的远程呈现体验个性化，从而改善整体远程通信并增强远程位置的存在感。这项技术的全部潜力受到与用户体验有关的问题的限制。我们的工作解决了这些缺点，并将使将来的远程呈现体验个性化，从而改善整体远程通信并增强远程位置的存在感。这项技术的全部潜力受到与用户体验有关的问题的限制。我们的工作解决了这些缺点，并将使将来的远程呈现体验个性化，从而改善整体远程通信并增强远程位置的存在感。