Assistive Telexistence System Using Motion Blending

Somaya Eltanbouly, Muraam Abdel-Ghani, Hoda Helmy, Abdullah Iskandar, Mohammed Al-Sada, Tatsuo Nakajima, Osama Halabi

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Robotic avatar and telexistence systems have risen in prominence after the covid-19 pandemic, where current telecommunication methods are limited in terms of physical interaction abilities. Most existing systems focus on manual control of the remote robot, where the robot's arms and head movements follow the user's movements. Despite the effectiveness of such controls in conveying high levels of embodiment, such control methods jeopardize the efficiency of controls, especially for complex physical manipulation tasks, unclear environments, or unstable communication. Therefore, we propose an assistive-manipulation method to augment users' control of a telexistence robot during physical manipulation tasks. Machine Learning (ML) was used in the remote environment to localize target objects. This information is sent to the local environment where an inverse kinematic (IK) solution to hold the intended object is generated. The generated IK solution is fused with the one generated by the user's arm movements. The system enables generating various levels of IK fusion. However, an essential aspect of telexistence is to maintain high levels of embodiment and body ownership over the remote robot. Therefore, the evaluation in this paper focuses on investigating the effect of haptic feedback and the level of IK fusion on body ownership. The results indicate that haptic feedback induced a sense of assurance of task completion and enabling assistance from the system improved the user's sense of control over the robotic arm.

Original languageEnglish
Title of host publicationProceedings - 2022 International Conference on Cyberworlds, CW 2022
EditorsYuriko Takeshima, Alexei Sourin, Haoran Xie, Christophe Rosenberger, Olga Sourina, Kazunori Miyata
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Electronic)9781665468145
Publication statusPublished - 2022
Event2022 International Conference on Cyberworlds, CW 2022 - Kanazawa, Japan
Duration: 2022 Sep 272022 Sep 29

Publication series

NameProceedings - 2022 International Conference on Cyberworlds, CW 2022


Conference2022 International Conference on Cyberworlds, CW 2022


  • Assistive Telexistence
  • Haptic
  • Motion Blending
  • Remote Manipulation
  • Telexistence
  • Virtual Reality

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Computer Science Applications
  • Information Systems
  • Information Systems and Management
  • Media Technology
  • Modelling and Simulation


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