ViewVR: Visual Feedback Modes to Achieve Quality of VR-based Telemanipulation

TL;DR

This paper introduces ViewVR, a VR-based telemanipulation system that improves operator perception and control by integrating visual feedback modes, evaluated through usability and efficiency tests with a consumer-grade VR setup.

Contribution

The paper presents a novel VR feedback mode system for telemanipulation that enhances perception and control, validated with user studies on manipulation tasks.

Findings

Enhanced usability and intuitiveness with VR feedback modes

Improved manipulation efficiency compared to static camera views

Successful integration of consumer-grade VR hardware with robotic systems

Abstract

The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a UR3 robot and a custom-built robotic head with two degrees of freedom (2-DoF). The system's usability, manipulation efficiency, and intuitiveness of control were evaluated in comparison with static head camera positioning across three distinct tasks. Code and other supplementary materials can be accessed by link: https://github.com/ErkhovArtem/ViewVR