TY - JOUR
T1 - Detachable Body
T2 - The Impact of Binocular Disparity and Vibrotactile Feedback in Co-Presence Tasks
AU - Iwasaki, Yukiko
AU - Ando, Kozo
AU - Iizuka, Shuhei
AU - Kitazaki, Michiteru
AU - Iwata, Hiroyasu
N1 - Funding Information:
Manuscript received September 10, 2019; accepted January 28, 2020. Date of publication March 2, 2020; date of current version March 10, 2020. This letter was recommended for publication by Associate Editor M. Cruz and Editor A. Okamura upon evaluation of the reviewers’ comments. This work was supported in part by Waseda University Global Robot Academia Institute, in part by Waseda University Green Computing Systems Research Organization, and in part by ERATO Inami JIZAI Body Project. (Corresponding author: Yukiko Iwasaki.) Yukiko Iwasaki, Kozo Ando, Shuhei Iizuka, and Hiroyasu Iwata are with the Graduate School of Creative Science and Engineering, Department of Modern Mechanical Engineering, Waseda University, Tokyo 169-8050, Japan (e-mail: yukiko-iwasaki@iwata.mech.waseda.ac.jp; g-g-22kz20@fuji. waseda.jp; iizuka325.2nd@asagi.waseda.jp; jubi@waseda.ac.jp).
Publisher Copyright:
© 2016 IEEE.
PY - 2020/4
Y1 - 2020/4
N2 - Detachable Body is a new concept of a robot arm wearable as an extended part of the body. It can be detached from the user's natural body; it can be attached not only to another person but also anywhere in the environment. Humans can eventually perform tasks that involve co-presence, or tasks that are concurrent and performed in two separate places, by utilizing the Detachable Body. In this letter, we design an information presentation interface to concurrently manage both the natural and detached bodies that are located in two separate locations. The interface consists of a vision presentation system that superimposes two environment images with binocular disparity, and a proprioception presentation system that provides somatosensory feedback of the detached arm's position. The usability of the proposed interface was evaluated by measuring work efficiency and subjective evaluation in a task involving co-presence. The results suggest the existence of the effects of the binocular disparity in the vision presentation system and the tactile information provided via feedback.
AB - Detachable Body is a new concept of a robot arm wearable as an extended part of the body. It can be detached from the user's natural body; it can be attached not only to another person but also anywhere in the environment. Humans can eventually perform tasks that involve co-presence, or tasks that are concurrent and performed in two separate places, by utilizing the Detachable Body. In this letter, we design an information presentation interface to concurrently manage both the natural and detached bodies that are located in two separate locations. The interface consists of a vision presentation system that superimposes two environment images with binocular disparity, and a proprioception presentation system that provides somatosensory feedback of the detached arm's position. The usability of the proposed interface was evaluated by measuring work efficiency and subjective evaluation in a task involving co-presence. The results suggest the existence of the effects of the binocular disparity in the vision presentation system and the tactile information provided via feedback.
KW - Human performance augmentation
KW - virtual reality and interfaces
KW - wearable robots
UR - http://www.scopus.com/inward/record.url?scp=85082173231&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85082173231&partnerID=8YFLogxK
U2 - 10.1109/LRA.2020.2977320
DO - 10.1109/LRA.2020.2977320
M3 - Article
AN - SCOPUS:85082173231
SN - 2377-3766
VL - 5
SP - 3477
EP - 3484
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 2
M1 - 9019843
ER -