Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues. However, robots often have difficulty efficiently communicating their motion intent to humans via these methods. Many existing methods for robot motion intent communication rely on 2D displays, which require the human to continually pause their work and check a visualization. We propose a mixed reality head-mounted display visualization of the proposed robot motion over the wearer's real-world view of the robot and its environment. To evaluate the effectiveness of this system against a 2D display visualization and against no visualization, we asked 32 participants to labeled different robot arm motions as either colliding or non-colliding with blocks on a table. We found a 16 increase in accuracy with a 62 decrease in the time it took to complete the task compared to the next best system. This demonstrates that a mixed-reality HMD allows a human to more quickly and accurately tell where the robot is going to move than the compared baselines.
Not all experiments in this area favor large-format VR. Many prior works compare immersive head-tracked CAVE displays against desktop and fishtank VR' displays, and often smaller higher-resolution displays induce greater performance thanks to faster visual scanning @cite_27 @cite_33 . Sousa reviewed all HMD to 2D display comparisons in the literature until 2009, and found their results broadly conflicting. Then, they conducted their own comparison for 3D navigation: on average, the desktop setup was better than the VR HMDs @cite_18 .
@cite_27 @cite_18 @cite_33
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This article summarizes a user study of viewing 3D geometry on large-screen display devices. The geometry models the structure of a complex physical object. Our results show that the crispness of a display device (intraframe performance) must be considered along with the speed at which new frames can be computed (interframe performance). It's important to consider crispness from the user's perspective, using values that aren't often published in device specifications. Equally important is the framework for different types of 3D data and the categorization of display technology and techniques. Virtual Reality (VR) has been constantly evolving since its early days, and is now a fundamental technology in different application areas. User evaluation is a crucial step in the design and development of VR systems that do respond to users' needs, as well as for identifying applications that indeed gain from the use of such technology. Yet, there is not much work reported concerning usability evaluation and validation of VR systems, when compared with the traditional desktop setup. The paper presents a user study performed, as a first step, for the evaluation of a low-cost VR system using a Head-Mounted Display (HMD). That system was compared to a traditional desktop setup through an experiment that assessed user performance, when carrying out navigation tasks in a game scenario for a short period. The results show that, although users were generally satisfied with the VR system, and found the HMD interaction intuitive and natural, most performed better with the desktop setup.