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Towards a VR Evaluation Suite for Tactile Displays in Telerobotic Space Missions

Banerjee, Premankur and Muschter, Evelyn and Singh, Harsimran and Weber, Bernhard and Hulin, Thomas (2023) Towards a VR Evaluation Suite for Tactile Displays in Telerobotic Space Missions. In: 2023 IEEE Aerospace Conference, AERO 2023, pp. 1-11. IEEE. IEEE Aerospace Conference, 04-11 Mar 2023, Big Sky, MT, USA. doi: 10.1109/AERO55745.2023.10115847. ISBN 978-166549032-0. ISSN 1095-323X.

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Official URL: https://ieeexplore.ieee.org/document/10115847


Research and development of telerobotic systems supplemented by haptic feedback for future planetary exploration missions has gained significant importance in the past decade. Major space agencies endeavor to deploy such systems before sending humans to the surface of unknown or unexplored celestial bodies. Astronauts control these telerobotic systems from remote locations, such as an orbital space station. Haptic feedback for teleoperating the robots in outer space is extremely important, not only to improve user immersion and task performance, but also to improve our understanding of surface properties. At the same time, for spaceflight, making use of compact, light-weight and robust devices are preferred for precise tactile feedback from telemanipulation tasks. In this paper, we introduce "ViESTac", a first attempt to develop a generic VR suite to be able to evaluate and compare fingertip-wearable tactile devices. Applications of such a suite include, but are not limited to allowing teleoperators to judiciously choose suitable tactile devices for a particular task. To account for the wide variety of existing fingertip-wearable tactile devices and their display capabilities, the suite contains a set of virtual scenarios to investigate different tactile properties of virtual objects. It also dedicates a virtual scenario to evaluate how tactile feedback may govern the accuracy of human positioning in standard tasks. This proposed suite is advocated by a pilot study with 13 participants and two distinct state-of-the-art tactile devices. Results of the study clearly indicate that the virtual suite can successfully cater to the need of evaluating and comparing fingertip-wearable tactile devices.

Item URL in elib:https://elib.dlr.de/195158/
Document Type:Conference or Workshop Item (Speech)
Title:Towards a VR Evaluation Suite for Tactile Displays in Telerobotic Space Missions
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Singh, HarsimranUNSPECIFIEDhttps://orcid.org/0000-0002-6735-9945UNSPECIFIED
Weber, BernhardUNSPECIFIEDhttps://orcid.org/0000-0002-7857-0201UNSPECIFIED
Hulin, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-3814-075XUNSPECIFIED
Date:15 May 2023
Journal or Publication Title:2023 IEEE Aerospace Conference, AERO 2023
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1-11
Keywords:Haptic feedback, Virtual Reality, Performance evaluation, Teleoperators, Tactile sensors
Event Title:IEEE Aerospace Conference
Event Location:Big Sky, MT, USA
Event Type:international Conference
Event Dates:04-11 Mar 2023
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Telerobotics, R - Intuitive human-robot interface [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Hulin, Dr. Thomas
Deposited On:17 May 2023 19:59
Last Modified:06 Oct 2023 11:51

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