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...

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Vydané v:2012 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI) s. 65 - 72
Hlavní autori: Park, Chung Hyuk, Howard, Ayanna M.
Médium: Konferenčný príspevok..
Jazyk:English
Vydavateľské údaje: New York, NY, USA ACM 05.03.2012
IEEE
Edícia:ACM Conferences
Predmet:
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
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Popis
Shrnutí: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