Supporting Perception of Weight through Motion-induced Sensory Conflicts in Robot Teleoperation

In this paper, we design and evaluate a novel form of visually-simulated haptic feedback cue for communicating weight in robot teleoperation. We propose that a visuo-proprioceptive cue results from inconsistencies created between the user’s visual and proprioceptive senses when the robot’s movement differs from the movement of the user’s input. In a user study where participants teleoperate a six-DoF robot arm, we demonstrate the feasibility of using such a cue for communicating weight in four telemanipulation tasks to enhance user experience and task performance. CCS CONCEPTS • Human-centered computing → Interaction paradigms; • Computer systems organization → Robotics. ACM Reference Format: Pragathi Praveena, Daniel Rakita, Bilge Mutlu, and Michael Gleicher. 2020. Supporting Perception of Weight through Motion-induced Sensory Conflicts in Robot Teleoperation. In Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction (HRI ’20), March 23–26, 2020, Cambridge, United Kingdom. ACM, New York, NY, USA, 9 pages. https://doi.org/10.1145/3319502.3374841