HOME > Detail View

Detail View

SPRinT : design and evaluation of motion based robot interface for teleoperation and telepresence using hand-held device

SPRinT : design and evaluation of motion based robot interface for teleoperation and telepresence using hand-held device

Material type
학위논문
Personal Author
안종길 安鐘佶
Title Statement
SPRinT : design and evaluation of motion based robot interface for teleoperation and telepresence using hand-held device / Jong-gil Ahn
Publication, Distribution, etc
Seoul :   Graduate School, Korea University,   2018  
Physical Medium
x, 79장 : 삽화, 도표 ; 26 cm
기타형태 저록
SPRinT : Design and Evaluation of Motion based Robot Interface for Teleoperation and Telepresence using Hand-held Device   (DCOLL211009)000000081418  
학위논문주기
학위논문(박사)-- 고려대학교 대학원: 컴퓨터·전파통신공학과, 2018. 8
학과코드
0510   6YD36   348  
General Note
지도교수: 김정현  
Bibliography, Etc. Note
참고문헌: 장 72-77
이용가능한 다른형태자료
PDF 파일로도 이용가능;   Requires PDF file reader(application/pdf)  
비통제주제어
Human-Robot Interaction , Telepresence , Body motion based control , Spatial Understanding , Teleoperation,,
000 00000nam c2200205 c 4500
001 000045953799
005 20180919170739
007 ta
008 180702s2018 ulkad bmAC 000 eng
040 ▼a 211009 ▼c 211009 ▼d 211009
085 ▼a 0510 ▼2 KDCP
090 ▼a 0510 ▼b 6YD36 ▼c 348
100 1 ▼a 안종길 ▼g 安鐘佶
245 1 0 ▼a SPRinT : ▼b design and evaluation of motion based robot interface for teleoperation and telepresence using hand-held device / ▼d Jong-gil Ahn
260 ▼a Seoul : ▼b Graduate School, Korea University, ▼c 2018
300 ▼a x, 79장 : ▼b 삽화, 도표 ; ▼c 26 cm
500 ▼a 지도교수: 김정현
502 1 ▼a 학위논문(박사)-- ▼b 고려대학교 대학원: ▼c 컴퓨터·전파통신공학과, ▼d 2018. 8
504 ▼a 참고문헌: 장 72-77
530 ▼a PDF 파일로도 이용가능; ▼c Requires PDF file reader(application/pdf)
653 ▼a Human-Robot Interaction ▼a Telepresence ▼a Body motion based control ▼a Spatial Understanding ▼a Teleoperation
776 0 ▼t SPRinT : Design and Evaluation of Motion based Robot Interface for Teleoperation and Telepresence using Hand-held Device ▼w (DCOLL211009)000000081418
900 1 0 ▼a 김정현 ▼g 金政鉉, ▼e 지도교수
945 ▼a KLPA

Electronic Information

No. Title Service
1
SPRinT : design and evaluation of motion based robot interface for teleoperation and telepresence using hand-held device (26회 열람)
View PDF Abstract Table of Contents

Holdings Information

No. Location Call Number Accession No. Availability Due Date Make a Reservation Service
No. 1 Location Science & Engineering Library/Stacks(Thesis)/ Call Number 0510 6YD36 348 Accession No. 123059633 Availability Available Due Date Make a Reservation Service B M
No. 2 Location Science & Engineering Library/Stacks(Thesis)/ Call Number 0510 6YD36 348 Accession No. 123059634 Availability Available Due Date Make a Reservation Service B M

Contents information

Abstract

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.

Table of Contents

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