In this paper, we analyze how different path aspects affect a user's experience, mainly VR sickness and overall comfort, while immersed in an autonomously moving telepresence robot through a virtual reality headset. In particular, we focus on how the robot turns and the distance it keeps from objects, with the goal of planning suitable trajectories for an autonomously moving immersive telepresence robot in mind; rotational acceleration is known for causing the majority of VR sickness, and distance to objects modulates the optical flow. We ran a within-subjects user study (n = 36, women = 18) in which the participants watched three panoramic videos recorded in a virtual museum while aboard an autonomously moving telepresence robot taking three different paths varying in aspects such as turns, speeds, or distances to walls and objects. We found a moderate correlation between the users' sickness as measured by the SSQ and comfort on a 6-point Likert scale across all paths. However, we detected no association between sickness and the choice of the most comfortable path, showing that sickness is not the only factor affecting the comfort of the user. The subjective experience of turn speed did not correlate with either the SSQ scores or comfort, even though people often mentioned turning speed as a source of discomfort in the open-ended questions. Through exploring the open-ended answers more carefully, a possible reason is that the length and lack of predictability also play a large role in making people observe turns as uncomfortable. A larger subjective distance from walls and objects increased comfort and decreased sickness both in quantitative and qualitative data. Finally, the SSQ subscales and total weighted scores showed differences by age group and by gender.

中文翻译：

---

几乎在自主远程呈现机器人上时的舒适和疾病

在本文中，我们分析了用户通过虚拟现实耳机沉浸在自主移动的远程呈现机器人中时，不同路径方面如何影响用户体验，主要是 VR 疾病和整体舒适度。我们特别关注机器人如何转动以及它与物体的距离，目的是为自主移动的沉浸式远程呈现机器人规划合适的轨迹；众所周知，旋转加速度会导致大部分 VR 疾病，而与物体的距离会调节光流。我们进行了一项受试者内用户研究（n = 36，女性 = 18），参与者在一个自主移动的远程呈现机器人上观看了在虚拟博物馆中录制的三个全景视频，其中三个不同的路径在转弯、速度、或与墙壁和物体的距离。我们发现在所有路径中，由 SSQ 衡量的用户疾病与舒适度在 6 点李克特量表之间存在中等相关性。然而，我们发现疾病与选择最舒适的路径之间没有关联，这表明疾病并不是影响用户舒适度的唯一因素。转弯速度的主观体验与 SSQ 分数或舒适度无关，尽管人们经常在开放式问题中提到转弯速度是不舒服的来源。通过更仔细地探索开放式答案，一个可能的原因是长度和缺乏可预测性也使人们观察转弯时感到不舒服。在定量和定性数据中，与墙壁和物体的较大主观距离增加了舒适度并减少了疾病。最后，