Real world haptic exploration for telepresence of the visually impaired

Robotic assistance through telepresence technology is an emerging area in aiding the visually impaired. By integrating the robotic perception of a remote environment and transferring it to a human user through haptic environmental feedback, the disabled user can increase one's capability to int...

Full description

Saved in:
Bibliographic Details
Published in:2012 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI) pp. 65 - 72
Main Authors: Park, Chung Hyuk, Howard, Ayanna M.
Format: Conference Proceeding
Language:English
Published: New York, NY, USA ACM 05.03.2012
IEEE
Series:ACM Conferences
Subjects:
3D in-situ perception
Computer systems organization > Embedded and cyber-physical systems > Robotics
Computing methodologies > Artificial intelligence > Computer vision
Computing methodologies > Artificial intelligence > Computer vision > Computer vision problems
Computing methodologies > Artificial intelligence > Computer vision > Computer vision tasks > Scene understanding
Computing methodologies > Artificial intelligence > Control methods > Robotic planning
Computing methodologies > Artificial intelligence > Planning and scheduling > Robotic planning
Haptic exploration
Haptic interfaces
Human-centered computing > Human computer interaction (HCI)
Humans
Manipulators
Mobile communication
Robot sensing systems
Surface treatment
telepresence
haptic exploration
3d in-situ perception
telepresence
ISBN:145031063X, 9781450310635
ISSN:2167-2121
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Robotic assistance through telepresence technology is an emerging area in aiding the visually impaired. By integrating the robotic perception of a remote environment and transferring it to a human user through haptic environmental feedback, the disabled user can increase one's capability to interact with remote environments through the telepresence robot. This paper presents a framework that integrates visual perception from heterogeneous vision sensors and enables real-time interactive haptic represent-ation of the real world through a mobile manipulation robotic system. Specifically, a set of multi-disciplinary algorithms such as stereo-vision processes, three-dimensional map building algorithms, and virtual-proxy haptic rendering processes are integrated into a unified framework to accomplish the goal of real-world haptic exploration successfully. Results of our framework in an indoor environment are displayed, and its performances are analyzed. Quantitative results are provided along with qualitative results through a set of human subject testing. Our future work includes real-time haptic fusion of multi-modal environmental perception and more extensive human subject testing in a prolonged experimental design.
ISBN:145031063X
9781450310635
ISSN:2167-2121
DOI:10.1145/2157689.2157701