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Computer Science > Robotics

arXiv:2108.03477 (cs)
[Submitted on 7 Aug 2021 (v1), last revised 10 Feb 2022 (this version, v3)]

Title:A Tool for Organizing Key Characteristics of Virtual, Augmented, and Mixed Reality for Human-Robot Interaction Systems: Synthesizing VAM-HRI Trends and Takeaways

Authors:Thomas R. Groechel, Michael E. Walker, Christine T. Chang, Eric Rosen, Jessica Zosa Forde
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Abstract:Frameworks have begun to emerge to categorize Virtual, Augmented, and Mixed Reality (VAM) technologies that provide immersive, intuitive interfaces to facilitate Human-Robot Interaction. These frameworks, however, fail to capture key characteristics of the growing subfield of VAM-HRI and can be difficult to consistently apply due to continuous scales. This work builds upon these prior frameworks through the creation of a Tool for Organizing Key Characteristics of VAM-HRI Systems (TOKCS). TOKCS discretizes the continuous scales used within prior works for more consistent classification and adds additional characteristics related to a robot's internal model, anchor locations, manipulability, and the system's software and hardware. To showcase the tool's capability, TOKCS is applied to the ten papers from the fourth VAM-HRI workshop and examined for key trends and takeaways. These trends highlight the expressive capability of TOKCS while also helping frame newer trends and future work recommendations for VAM-HRI research.
Comments: Accepted to Robotics and Automation Magazine Special Issue on Extended Reality in Robotics
Subjects: Robotics (cs.RO); Human-Computer Interaction (cs.HC)
Cite as: arXiv:2108.03477 [cs.RO]
  (or arXiv:2108.03477v3 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2108.03477
Related DOI: https://doi.org/10.1109/MRA.2021.3138383

Submission history

From: Thomas Groechel [view email]
[v1] Sat, 7 Aug 2021 16:01:42 UTC (3,605 KB)
[v2] Fri, 17 Dec 2021 16:00:39 UTC (3,611 KB)
[v3] Thu, 10 Feb 2022 19:03:42 UTC (3,611 KB)
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