A study of bidirectionally telepresent tele-action during robot-mediated handover


Conference Paper

© 2017 IEEE. The addition of manipulation capabilities to telepresence robots holds the promise of enabling remote humans to perform tele-labor, hands-on training, and collaborative manipulation, but the use of a robot as a mediator to humanhuman physical interaction is not yet well understood. This paper studies the impact of telepresence modalities in the context of robot-mediated object handover. A teleoperation system was developed involving a bimanual mobile manipulator with telepresence head and sensing capabilities, and a user study was conducted with n=10 pairs of subjects under a variety of audio and visual telepresence conditions. Results show that telepresence does not significantly affect objective handover fluency, but both audio and video telepresence do significantly improve user experience on subjective measures including intimacy and perceived fluency.

Full Text

Duke Authors

Cited Authors

  • Li, J; Li, Z; Hauser, K

Published Date

  • July 21, 2017

Published In

Start / End Page

  • 2890 - 2896

International Standard Serial Number (ISSN)

  • 1050-4729

International Standard Book Number 13 (ISBN-13)

  • 9781509046331

Digital Object Identifier (DOI)

  • 10.1109/ICRA.2017.7989335

Citation Source

  • Scopus