Unwinding Rotations Improves User Comfort with Immersive Telepresence Robots
Markku Suomalainen, Basak Sakcak, Adhi Widagdo, Juho Kalliokoski,, Katherine J. Mimnaugh, Alexis P. Chambers, Timo Ojala, Steven M. LaValle

TL;DR
This paper introduces a rotation unwinding technique for immersive telepresence robots, which enhances user comfort and reduces VR sickness by aligning visual rotation with physical movement rather than robot rotation.
Contribution
The study presents a novel rotation unwinding method for telepresence robots and demonstrates its effectiveness in improving user comfort and reducing VR sickness through user experiments.
Findings
Unwinding rotations increased user comfort and preference.
The method significantly reduced VR sickness levels.
Users maintained better spatial awareness with unwinding rotations.
Abstract
We propose unwinding the rotations experienced by the user of an immersive telepresence robot to improve comfort and reduce VR sickness of the user. By immersive telepresence we refer to a situation where a 360\textdegree~camera on top of a mobile robot is streaming video and audio into a head-mounted display worn by a remote user possibly far away. Thus, it enables the user to be present at the robot's location, look around by turning the head and communicate with people near the robot. By unwinding the rotations of the camera frame, the user's viewpoint is not changed when the robot rotates. The user can change her viewpoint only by physically rotating in her local setting; as visual rotation without the corresponding vestibular stimulation is a major source of VR sickness, physical rotation by the user is expected to reduce VR sickness. We implemented unwinding the rotations for a…
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Taxonomy
TopicsVirtual Reality Applications and Impacts · Advanced Optical Imaging Technologies · Visual Attention and Saliency Detection
