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.
Head-mounted displays, as popularized by virtual reality systems, offer the opportunity to immerse a user in a synthetically generated environment. While there is much anecdotal evidence that this is a qualitative jump in the user interface, there is little quantitative data to establish that emersion improves task performance. The authors present the results of a user study: users performing a generic search task decrease task performance time by roughly half (42 reduction) when they change from a stationary display to a head-mounted display with identical properties (resolution, field-of-view, etc.). A second result is that users who practice with the head-mounted display reduce task completion time by 23 in later trials with the stationary display, suggesting a transfer effect. > This paper describes an experiment to assess the influence of immersion on performance in immersive virtual environments. The task involved Tri-Dimensional Chess, and required subjects to reproduce on a real chess board the state of board learned from a sequence of moves witnessed in a virtual environment. Twenty four subjects were allocated to a factorial design consisting of two levels of immersion (exocentric screen based, and egocentric HMD based), and two kinds of environment (plain and realistic). The results suggest that egocentric subjects performed better than exocentric, and those in the more realistic environment performed better than those in the less realistic environment. Previous knowledge of chess, and amount of virtual practice were also significant, and may be considered as control variables to equalise these factors amongst the subjects. Other things being equal, males remembered the moves better than females, although female performance improved with higher spatial ability test score. The paper also attempts to clarify the relationship between immersion, presence and performance, and locates the experiment within such a theoretical framework. An experiment is reported which tests whether network information is more effectively displayed in a three dimensional space than in a two dimensional space. The experimental task is to trace a path in a network and the experiment is carried out in 2D, in a 3D stereo view, in a 2D view with head coupled perspective, and in a 3D stereo view with head coupled perspective; this last condition creates a localized virtual reality display. The results show that the motion parallax obtained from the head coupling of perspective is more important than stereopsis in revealing structural information. Overall the results show that three times as much information can be perceived in the head coupled stereo view as in the 2D view. > Participants used a helmet-mounted display (HMD) and a desk-top (monitor) display to learn the layouts of two large-scale virtual environments (VEs) through repeated, direct navigational experience. Both VEs were “virtual buildings” containing more than seventy rooms. Participants using the HMD navigated the buildings significantly more quickly and developed a significantly more accurate sense of relative straight-line distance. There was no significant difference between the two types of display in terms of the distance that participants traveled or the mean accuracy of their direction estimates. Behavioral analyses showed that participants took advantage of the natural, head-tracked interface provided by the HMD in ways that included “looking around” more often while traveling through the VEs, and spending less time stationary in the VEs while choosing a direction in which to travel. 