Grasping Temperature: Thermal Feedback in VR Robot Teleoperation

Leonor Fermoselle, Alexander Toet, Nirul Hoeba, Jeanine van Bruggen, Nanda van der Stap, Frank B. ter Haar, Jan van Erp

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

2 Citations (Scopus)
31 Downloads (Pure)


This paper presents a proof-of-concept of a robotic teleoperation system, that provides the human operator a thermal sense in addition to the visual sense. With a sensor suite comprising a stereo camera, 360° camera and long-wave infra-red camera, our demonstrator pushes the boundaries of virtual-reality situational awareness by bringing not only 3D visual content but also a 360° thermal experience to the operator. The visual channel of our robotic teleoperation system is represented through a head-mounted-display and the thermal channel is displayed through directional heaters in the operator cockpit and a thermal glove. Initial tests showed that an operator successfully experienced a 360° remote environment, correctly distinguished between and interacted with hot and cold objects, and could notice the presence of nearby people outside her direct field-of-view, based on their emitted heat.

Original languageEnglish
Title of host publicationIMX '22
Subtitle of host publicationProceedings of the ACM International Conference on Interactive Media Experiences, Aveiro, JB, Portugal, June 22-24, 2022
Place of PublicationNew York, NY
PublisherAssociation for Computing Machinery
Number of pages6
ISBN (Electronic)978-1-4503-9212-9
Publication statusPublished - 21 Jun 2022
Externally publishedYes
EventACM International Conference on Interactive Media Experiences, IMX 2022 - Aveiro, Portugal
Duration: 22 Jun 202224 Jun 2022


ConferenceACM International Conference on Interactive Media Experiences, IMX 2022
Abbreviated titleIMX 2022


  • Robotics
  • Teleoperation
  • Thermal-feedback
  • Virtual-reality
  • 2023 OA procedure


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