In this paper, we propose a new interface for virtual reality headset: a touchpad in front of the headset. To demonstrate the feasibility of the front touch interface, we built a prototype device, explored VR UI design space expansion, and performed various user studies. We started with preliminary tests to see how intuitively and accurately people can interact with the front touchpad. Then, we further experimented various user interfaces such as a binary selection, a typical menu layout, and a keyboard. Two-Finger and Drag-n-Tap were also explored to find the appropriate selection technique. As a low-cost, light-weight, and in low power budget technology, a touch sensor can make an ideal interface for mobile headset. Also, front touch area can be large enough to allow wide range of interaction types such as multi-finger interactions. With this novel front touch interface, we paved a way to new virtual reality interaction methods.
Bowman @cite_21 characterized the four universal interaction tasks of virtual environment systems: selection, navigation, manipulation, and system control. Although simple selection would be adequate for static menu layouts, delicate manipulation is needed for complex UI where buttons are smaller and packed.
@cite_21
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Navigation is the most common interactive task performed in three-dimensional virtual environments (VEs), but it is also a task that users often find difficult. We investigated how body-based information about the translational and rotational components of movement helped participants to perform a navigational search task (finding targets hidden inside boxes in a room-sized space). When participants physically walked around the VE while viewing it on a head-mounted display (HMD), they then performed 90p of trials perfectly, comparable to participants who had performed an equivalent task in the real world during a previous study. By contrast, participants performed less than 50p of trials perfectly if they used a tethered HMD (move by physically turning but pressing a button to translate) or a desktop display (no body-based information). This is the most complex navigational task in which a real-world level of performance has been achieved in a VE. Behavioral data indicates that both translational and rotational body-based information are required to accurately update one's position during navigation, and participants who walked tended to avoid obstacles, even though collision detection was not implemented and feedback not provided. A walking interface would bring immediate benefits to a number of VE applications. Manipulation in immersive virtual environments is difficult partly because users must do without the haptic contact with real objects they rely on in the real world to orient themselves and their manipulanda. To compensate for this lack, we propose exploiting the one real object every user has in a virtual environment, his body. We present a unified framework for virtual-environment interaction based on proprioception, a person's sense of the position and orientation of his body and limbs. We describe three forms of body-relative interaction: • Direct manipulation—ways to use body sense to help control manipulation • Physical mnemonics—ways to store recall information relative to the body • Gestural actions—ways to use body-relative actions to issue commands Automatic scaling is a way to bring objects instantly within reach so that users can manipulate them using proprioceptive cues. Several novel virtual interaction techniques based upon automatic scaling and our proposed framework of proprioception allow a user to interact with a virtual world intuitively, efficiently, precisely, and lazily. We report the results of both informal user trials and formal user studies of the usability of the body-relative interaction techniques presented. CR We present an experimental comparison of multi-touch and tangible user interfaces for basic interface actions. Twelve participants completed manipulation and acquisition tasks on an interactive surface in each of three conditions: tangible user interface; multi-touch; and mouse and puck. We found that interface control objects in the tangible condition were easiest to acquire and, once acquired, were easier more accurate to manipulate. Further qualitative analysis suggested that in the evaluated tasks tangibles offer greater adaptability of control and specifically highlighted a problem of exit error that can undermine fine-grained control in multi-touch interactions. We discuss the implications of these findings for interface design. This paper presents a set of interaction techniques for hands-free multi-scale navigation through virtual environments. We believe that hands-free navigation, unlike the majority of navigation techniques based on hand motions, has the greatest potential for maximizing the interactivity of virtual environments since navigation modes are offloaded from modal hand gestures to more direct motions of the feet and torso. Not only are the users’ hands freed to perform tasks such as modeling, notetaking and object manipulation, but we also believe that foot and torso movements may inherently be more natural for some navigation tasks. The particular interactions that we developed include a leaning technique for moving small and medium distances, a foot-gesture controlled Step WIM that acts as a floor map for moving larger distances, and a viewing technique that enables a user to view a full 360 degrees in only a three-walled semi-immersive environment by subtly amplifying the mapping between their torso rotation and the virtual world. We formatively designed and evaluated our techniques in existing projects related to archaeological reconstructions, free-form modeling, and interior design. In each case, our informal observations have indicated that motions such as walking and leaning are both appropriate for navigation and are effective in cognitively simplifying complex virtual environment interactions since functionality is more evenly distributed across the body. The user interface is the central element of a telepresence robotic system and its visualization modalities greatly affect the operator's situation awareness, and thus its performance. Depending on the task at hand and the operator's preferences, going from ego- and exocentric viewpoints and improving the depth representation can provide better perspectives of the operation environment. Our system, which combines a 3D reconstruction of the environment using laser range finder readings with two video projection methods, allows the operator to easily switch from ego- to exocentric viewpoints. This paper presents the interface developed and demonstrates its capabilities by having 13 operators teleoperate a mobile robot in a navigation task. We present a mobile manipulation platform operated by a motor-impaired person using input from a head-tracker, single-button mouse. The platform is used to perform varied and unscripted manipulation tasks in a real home, combining navigation, perception and manipulation. The operator can make use of a wide range of interaction methods and tools, from direct tele-operation of the gripper or mobile base to autonomous sub-modules performing collision-free base navigation or arm motion planning. We describe the complete set of tools that enable the execution of complex tasks, and share the lessons learned from testing them in a real user's home. In the context of grasping, we show how the use of autonomous sub-modules improves performance in complex, cluttered environments, and compare the results to those obtained by novice, able-bodied users operating the same system. Study findings based on eye-tracking and user interaction monitoring.Insights into the detailed navigation behavior of 22 developers.An approach to automatically capture the source code elements a developer looks at.A discussion on the value the data and the findings offer for developer support. The more we know about software developers detailed navigation behavior for change tasks, the better we are able to provide effective tool support. Currently, most empirical studies on developers performing change tasks are, however, limited to very small code snippets or limited by the granularity and detail of the data collected on developers navigation behavior. In our research, we extend this work by combining user interaction monitoring to gather interaction context the code elements a developer selects and edits with eye-tracking to gather more detailed and fine-granular gaze context-code elements a developer looked at. In a study with 12 professional and 10 student developers we gathered interaction and gaze contexts from participants working on three change tasks of an open source system. Based on an analysis of the data we found, amongst other results, that gaze context captures different aspects than interaction context and that developers only read small portions of code elements. We further explore the potential of the more detailed and fine-granular data by examining the use of the captured change task context to predict perceived task difficulty and to provide better and more fine-grained navigation recommendations. We discuss our findings and their implications for better tool support. The research we are reporting here is part of our effort to develop a navigation system for the blind. Our long-term goal is to create a portable, self-contained system that will allow visually impaired individuals to travel through familiar and unfamiliar environments without the assistance of guides. The system, as it exists now, consists of the following functional components: (1) a module for determining the traveler's position and orientation in space, (2) a Geographic Information System comprising a detailed database of our test site and software for route planning and for obtaining information from the database, and (3) the user interface. The experiment reported here is concerned with one function of the navigation system: guiding the traveler along a predefined route. We evaluate guidance performance as a function of four different display modes: one involving spatialized sound from a virtual acoustic display, and three involving verbal commands issued by a synthetic speech display. The virtual display mode fared best in terms of both guidance performance and user preferences. Immersive virtual environments (VEs) have potential in many application areas, but many complex VE systems exhibit usability and interaction problems. This is partly due to a lack of consideration or understanding of 3D interaction tasks and techniques. This paper proposes the systematic study of the design, evaluation, and application of VE interaction techniques. In this methodology, design and evaluation are based on a formal task analysis and categorization of techniques, using multiple performance measures. As a direct consequence of our use of this methodology, we also present a variety of novel designs and evaluation results with respect to interaction techniques for three common VE tasks. ( 1999 Academic Press We propose a humanoid robot navigation planning framework that reuses previous experience to decrease planning time. The framework is intended for navigating complex unstructured environments using both palm and foot contacts. In a complex environment, discrete-search-based contact space planners trade-off between high branching factor and action flexibility. Although approaches such as weighted A∗, ARA∗ and ANA∗ could speed up the search by compromising on optimality, they can be very slow when the heuristic is inaccurate. In the proposed framework, an experience-retrieval module is added in parallel to ANA∗. This module collects previously-generated motion plans and clusters them based on contact pose similarity to form a motion plan library. To retrieve an appropriate plan from the library for a given environment, the framework uses a distance between the contact poses in the plan and environment surfaces. Candidate plans are then modified with local trajectory optimization until a plan fitting the query environment is found. Our experiments show that the proposed framework outperforms planning-from-scratch in success rate in unstructured environments by at least 28 and can navigate difficult environments such as rubble and narrow corridors. This paper describes the implementation of a robot control architecture designed to combine a manipulation task design environment with a motion controller that uses the operational space formulation to define and implement arm trajectories and object manipulation. The ProVAR desktop manipulation system is an assistive robot for individuals with a severe physical disability, such as quadriplegia as a result of a high-level spinal cord injury. ProVAR allows non-technical operators access to the robot's capabilities through a direct-manipulation simulation preview user interface. The novel interface concept is based on two built-in characters to play the roles of helpful consultant and down-to-earth robot arm. This team-based interface concept was chosen to maximize user performance and comfort in controlling the inherently complex mechatronic technology. This paper describes our design decisions and rationale. Robust remote teleoperation of high-DOF manipulators is of critical importance across a wide range of robotics applications. Contemporary robot manipulation interfaces primarily utilize a free-positioning pose specification approach to independently control each axis of translation and orientation in free space. In this work, we present two novel interfaces, constrained positioning and point-and-click, which incorporate scene information, including points-of-interest and local surface geometry, into the grasp specification process. We also present results of a user study evaluation comparing the effects of increased use of scene information in grasp pose specification algorithms for general object manipulation. The results of our study show that constrained positioning and point-and-click significantly outperform the widely used free positioning approach by significantly reducing the number of grasping errors and the number of user interactions required to specify poses. Furthermore, the point-and-click interface significantly increased the number of tasks users were able to complete. Dialog state tracking - the process of updating the dialog state after each interaction with the user - is a key component of most dialog systems. Following a similar scheme to the fourth dialog state tracking challenge, this edition again focused on human-human dialogs, but introduced the task of cross-lingual adaptation of trackers. The challenge received a total of 32 entries from 9 research groups. In addition, several pilot track evaluations were also proposed receiving a total of 16 entries from 4 groups. In both cases, the results show that most of the groups were able to outperform the provided baselines for each task. This paper presents a framework for designing a natural multimodal human computer interaction (HCI) system. The core of the proposed framework is a principled method for combining information derived from audio and visual cues. To achieve natural interaction, both audio and visual modalities are fused along with feedback through a large screen display. Careful design along with due considerations of possible aspects of a systems interaction cycle and integration has resulted in a successful system. The performance of the proposed framework has been validated through the development of several prototype systems as well as commercial applications for the retail and entertainment industry. To assess the impact of these multimodal systems (MMS), informal studies have been conducted. It was found that the system performed according to its specifications in 95 of the cases and that users showed ad-hoc proficiency, indicating natural acceptance of such systems. Robot teleoperation systems face a common set of challenges including latency, low-dimensional user commands, and asymmetric control inputs. User control with Brain---Computer Interfaces (BCIs) exacerbates these problems through especially noisy and erratic low-dimensional motion commands due to the difficulty in decoding neural activity. We introduce a general framework to address these challenges through a combination of computer vision, user intent inference, and arbitration between the human input and autonomous control schemes. Adjustable levels of assistance allow the system to balance the operators capabilities and their perception of control authority. Additionally, a custom servo controller design allow for safe interactions of the robotic arm with the environment. We present experimental results demonstrating significant performance improvement using our shared-control assistance framework on adapted rehabilitation benchmarks with two subjects at various timepoints relative to their implantation with intracortical BCIs. Our results indicate that shared assistance mitigates perceived user difficulty in using a seven-degree of freedom robotic arm as a prosthetic and enables successful performance on previously infeasible tasks. We showcase the extensibility of our architecture with applications to quality-of-life tasks such as opening a door, pouring liquids from containers, and manipulation with objects previously unknown to the system in densely cluttered environments. In a typical Human-Robot Interaction (HRI) scenario, the robot needs to perform various tasks for the human, hence should take into account human oriented constraints. In this context it is not sufficient that the robot selects grasp and placement of the object from the stability point of view only. Motivated from human behavioral psychology, in this paper we emphasize on the mutually depended nature of grasp and placement selections, which is further constrained by the task, the environment and the human's perspective. We will explore essential human oriented constraints on grasp and placement selections and present a framework to incorporate them in synthesizing key configurations of planning basic interactive manipulation tasks. In human-computer collaboration involving haptics, a key issue that remains to be solved is to establish an intuitive communication between the partners. Even though computers are widely used to aid human operators in teleoperation, guidance, and training, because they lack the adaptability, versatility, and awareness of a human, their ability to improve efficiency and effectiveness in dynamic tasks is limited. We suggest that the communication between a human and a computer can be improved if it involves a decision-making process in which the computer is programmed to infer the intentions of the human operator and dynamically adjust the control levels of the interacting parties to facilitate a more intuitive interaction setup. In this paper, we investigate the utility of such a dynamic role exchange mechanism, where partners negotiate through the haptic channel to trade their control levels on a collaborative task. We examine the energy consumption, the work done on the manipulated object, and the joint efficiency in addition to the task performance. We show that when compared to an equal control condition, a role exchange mechanism improves task performance and the joint efficiency of the partners. We also show that augmenting the system with additional informative visual and vibrotactile cues, which are used to display the state of interaction, allows the users to become aware of the underlying role exchange mechanism and utilize it in favor of the task. These cues also improve the user's sense of interaction and reinforce his her belief that the computer aids with the execution of the task. Text entry user interfaces have been a bottleneck of non traditional computing devices. One of the promising methods is the virtual keyboard on touch screens. Various layouts have been manually designed to replace the dominant QWERTY layout. This paper presents two computerized quantitative design techniques to search for the optimal virtual keyboard. The first technique simulated the dynamics of a keyboard with “digraph springs” between keys, which produced a “Hooke’s” keyboard with 41.6 wpm performance. The second technique used a Metropolis random walk algorithm guided by a “Fitts energy” objective function, which produced a “Metropolis” keyboard with 43.1 wpm performance. The paper also models and evaluates the perfo rmance of four existing keyboard layouts. We corrected erroneous estimates in the literature and predicted the performance of QWERTY, CHUBON, FITALY, OPTI to be in the neighborhood of 30, 33, 36 and 38 wpm respectively. Our best design was 40 faster than QWERTY and 10 faster than OPTI, illustrating the advantage of quantitative user interface design techniques based on models of human performance over traditional trial and error designs guided by heuristics. We report a user study which compared four virtual environment travel techniques using a divided attention task. Participants used either real walking, gaze-directed, pointing-directed, or torso-directed travel to follow a target through an environment while simultaneously responding to auditory stimuli. In addition to travel technique, we investigated gender as a between-subjects variable and task difficulty (simple or complex) and task type (single or divided) as within-subjects variables. Real walking allowed superior performance over the pointing-directed technique on measures of navigation task performance and recognition of stimuli presented during navigation. This indicates that participants using real walking may have had more spare cognitive capacity to process and encode stimuli than those using pointing-directed travel. We also found a gender-difficulty interaction where males performed worse and responded slower to the attention task when the spatial task was more difficult, but no differences were observed for females between difficulty levels. While these results may be pertinent for the design of virtual environments, the nature and goal of the virtual environment tasks must be carefully considered to determine whether similar effects on performance can be expected under different conditions. This paper reports empirical results from a study into the useof 2D widgets in 3D immersive virtual environments. Severalresearchers have proposed the use of 2D interaction techniques in3D environments, however little empirical work has been done totest the usability of such approaches. We present the results oftwo experiments conducted on low-level 2D manipulation tasks withinan immersive virtual environment. We empirically show that theaddition of passive-haptic feedback for use in precise UImanipulation tasks can significantly increase user performance.Furthermore, users prefer interfaces that provide a physicalsurface, and that allow them to work with interface widgets in thesame visual field of view as the objects they are modifying.