Musings on telepresence and virtual presence
Presence: Teleoperators and Virtual Environments - Premier issue
Telerobotics, automation, and human supervisory control
Telerobotics, automation, and human supervisory control
Being there: the subjective experience of presence
Presence: Teleoperators and Virtual Environments
Presence: Teleoperators and Virtual Environments
Ubiquitous tele-embodiment: applications and implications
International Journal of Human-Computer Studies - Special issue: innovative applications of the World Wide Web
Supporting presence in collaborative environments by haptic force feedback
ACM Transactions on Computer-Human Interaction (TOCHI) - Special issue on human-computer interaction and collaborative virtual environments
International Journal of Human-Computer Studies
Do Avatars Dream of Digital Sheep? Virtual People and the Sense of Presence
VR '02 Proceedings of the IEEE Virtual Reality Conference 2002
Real time planning method for multiple mobile robots
ISATP '95 Proceedings of the 1995 IEEE International Symposium on Assembly and Task Planning
Effects of network delay on a collaborative motor task with telehaptic and televisual feedback
VRCAI '04 Proceedings of the 2004 ACM SIGGRAPH international conference on Virtual Reality continuum and its applications in industry
ACM Transactions on Applied Perception (TAP)
Presence, workload and performance effects of synthetic environment design factors
International Journal of Human-Computer Studies
Haptic teleoperation of a mobile robot: a user study
Presence: Teleoperators and Virtual Environments
Presence: Teleoperators and Virtual Environments
Operator Performance in Surgical Telemanipulation
Presence: Teleoperators and Virtual Environments
Navigating Large-Scale “Desk-Top” Virtual Buildings: Effects of Orientation Aids and Familiarity
Presence: Teleoperators and Virtual Environments
Measuring Presence in Virtual Environments: A Presence Questionnaire
Presence: Teleoperators and Virtual Environments
A Conceptual Model of the Sense of Presence in Virtual Environments
Presence: Teleoperators and Virtual Environments
Maintaining Spatial Orientation during Travel in an Immersive Virtual Environment
Presence: Teleoperators and Virtual Environments
Presence: Teleoperators and Virtual Environments
Presence: Teleoperators and Virtual Environments
Envisioning human-robot coordination in future operations
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Haptic feedback increases perceived social presence
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics - generating and perceiving tangible sensations: Part II
Proceedings of the 10th International Conference on Virtual Reality Continuum and Its Applications in Industry
Accelerative effect of tactile feedback on turn-taking control in remote verbal-communication
CHI '13 Extended Abstracts on Human Factors in Computing Systems
A Haptic Tool for Group Work on Geometrical Concepts Engaging Blind and Sighted Pupils
ACM Transactions on Accessible Computing (TACCESS)
Vision-based virtual force guidance for tele-robotic system
Computers and Electrical Engineering
Exploring head tracked head mounted displays for first person robot teleoperation
Proceedings of the 19th international conference on Intelligent User Interfaces
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Traditionally, the main goal of teleoperation has been to successfully achieve a given task as if performing the task in local space. An emerging and related requirement is to also match the subjective sensation or the user experience of the remote environment, while maintaining reasonable task performance. This concept is often called ''presence'' or ''(experiential) telepresence,'' which is informally defined as ''the sense of being in a mediated environment.'' In this paper, haptic feedback is considered as an important element for providing improved presence and reasonable task performance in remote navigation. An approach for using haptic information to ''experientially'' teleoperate a mobile robot is described. Haptic feedback is computed from the range information obtained by a sonar array attached to the robot, and delivered to a user's hand via a haptic probe. This haptic feedback is provided to the user, in addition to stereoscopic images from a forward-facing stereo camera mounted on the mobile robot. The experiment with a user population in a real-world environment showed that haptic feedback significantly improved both task performance and user-felt presence. When considering user-felt presence, no interaction among haptic feedback, image resolution, and stereoscopy was observed, that is, haptic feedback was effective, regardless of the fidelity of visual elements. Stereoscopic images also significantly improved both task performance and user-felt presence, but high-resolution images only significantly improved user-felt presence. When considering task performance, however, it was found that there was an interaction between haptic feedback and stereoscopy, that is, stereoscopic images were only effective when no force feedback was applied. According to the multiple regression analysis, haptic feedback was a higher contributing factor to the improvement in performance and presence than image resolution and stereoscopy.