상세정보

In this thesis, we present SPRinT, a control interface design for a telepresence robot that uses only a smart phone without any external sensors. In addition to basic controllability, we focus on providing a reasonable level of spatial understanding as well as a feeling of telepresence through the interaction. The central idea of SPRinT is to have the operator control and interact with the system by “posing” as the robot in the remote area in order to elicit a sense of telepresence, promote spatial task performance, and improve the overall interactive experience. We have applied the proposed interaction design principle to remote robot control, and compared it to a nominal touch-button based interface in terms of the controllability, the level of user-felt telepresence, and spatial understanding. 
Our experiments showed that the proprioceptive and spatial nature of the motion-based rotational control was critical in eliciting the sense of telepresence and spatial understanding, and this in turn was also important to ensure effective exploration and awareness of remote spaces. On the other hand, the traditional touch-button interface was more appropriate for translation for which a proper proprioceptive metaphoric command could not be designed. Overall, the mixed approach (body/motion based for rotation and touch based for translation) proved to offer a good middle ground since the interaction method was familiar and easy to use with a reasonable level of telepresence. 
We outline the technical and interface requirements for understanding the target remote space, and initiating and setting up such an information exchange for the local user (and partly for the remote). Based on this interaction model, we proposed a new interaction technique for improving the awareness of the respective interacting counterparts called the "Finger-to-Hand" and "Hand-to-Finger". Finger-to-hand renders the local hand-held device user's interacting finger as an arm/hand in the larger display for the to the remote environment user, and Hand-to-finger does the reverse, taking the remote environment user's arm/hand to be rendered as a pointing finger in the local user's small hand-held device. Through a simple pilot study, we demonstrate its potential for user awareness improvement.

ABSTRACT	i
CONTENTS	iii
List of Figures	vi
List of Tables	x
Chapter 1.	Introduction	1
1.1 Motivation	1
1.2 Challenges	3
1.3 Purpose and Flow of the Thesis	5
1.4 Overview of the Thesis	7
1.5 Contributions	7
Chapter 2.	Related Work	9
2.1 Robot Teleoperation and Telepresence System	9
2.2 Smart Phone/Pad-Based Robot Control	10
2.3 Proprioceptive Body Motion Based Interface	11
2.4 Projector system based Interaction	13
Chapter 3.	SPRinT	15
3.1 System Configuration	16
3.2 Telepresence Mobile Robot Control	18
Chapter 4.	Experiments	22
4.1 Experiment 1: Body-Based Rotational Control and Telepresence	22
4.1.1 Experimental Design	22
4.1.2 Experimental Setup	25
4.1.3 Detailed Procedure	26
4.1.4 Results	30
4.2. Experiment 2: Mixed Interface for Both Translation and Rotational Navigation	37
4.2.1 Experimental Design	37
4.2.2 Experimental Setup	39
4.2.3 Detailed Procedure	39
4.2.4 Results	40
4.3. Discussion	48
Chapter 5.	Interaction with Remote User	51
5.1 Interaction Model	52
5.1.1 Navigation and View Control	52
5.1.2 Direct Interaction between Users	53
5.1.3 Indirect Interaction with Projection between Users	53
5.1.4 Pilot Run	58
5.1.5 Summary and Discussion	60
5.2 Finger-to-Hand/Hand-to-Finger Interaction	62
5.2.1 Finger-to-Hand Interaction	64
5.2.2 Hand-to-Finger Interaction	66
5.2.3 Summary and Discussion	67
Chapter 6.	Conclusions and Future Work	69
6.1 Conclusions	69
6.2 Future work	70
References	72