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

doi:10.1145/3505284.3532969

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 proceeding › Conference contribution › Academic › peer-review

2 Citations (Scopus)

35 Downloads (Pure)

Abstract

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 language	English
Title of host publication	IMX '22
Subtitle of host publication	Proceedings of the ACM International Conference on Interactive Media Experiences, Aveiro, JB, Portugal, June 22-24, 2022
Place of Publication	New York, NY
Publisher	Association for Computing Machinery
Pages	261-266
Number of pages	6
ISBN (Electronic)	978-1-4503-9212-9
DOIs	https://doi.org/10.1145/3505284.3532969
Publication status	Published - 21 Jun 2022
Externally published	Yes
Event	ACM International Conference on Interactive Media Experiences, IMX 2022 - Aveiro, Portugal Duration: 22 Jun 2022 → 24 Jun 2022

Conference

Conference	ACM International Conference on Interactive Media Experiences, IMX 2022
Abbreviated title	IMX 2022
Country/Territory	Portugal
City	Aveiro
Period	22/06/22 → 24/06/22

Keywords

n/a OA procedure
Teleoperation
Thermal-feedback
Virtual-reality
Robotics

Access to Document

10.1145/3505284.3532969

Cite this

Fermoselle, L., Toet, A., Hoeba, N., van Bruggen, J., van der Stap, N., ter Haar, F. B., & van Erp, J. (2022). Grasping Temperature: Thermal Feedback in VR Robot Teleoperation. In IMX '22: Proceedings of the ACM International Conference on Interactive Media Experiences, Aveiro, JB, Portugal, June 22-24, 2022 (pp. 261-266). Association for Computing Machinery. https://doi.org/10.1145/3505284.3532969

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title = "Grasping Temperature: Thermal Feedback in VR Robot Teleoperation",

abstract = "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.",

keywords = "n/a OA procedure, Teleoperation, Thermal-feedback, Virtual-reality, Robotics",

author = "Leonor Fermoselle and Alexander Toet and Nirul Hoeba and {van Bruggen}, Jeanine and {van der Stap}, Nanda and {ter Haar}, {Frank B.} and {van Erp}, Jan",

note = "Publisher Copyright: {\textcopyright} 2022 Owner/Author.; ACM International Conference on Interactive Media Experiences, IMX 2022, IMX 2022 ; Conference date: 22-06-2022 Through 24-06-2022",

year = "2022",

month = jun,

day = "21",

doi = "10.1145/3505284.3532969",

language = "English",

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Fermoselle, L, Toet, A, Hoeba, N, van Bruggen, J, van der Stap, N, ter Haar, FB & van Erp, J 2022, Grasping Temperature: Thermal Feedback in VR Robot Teleoperation. in IMX '22: Proceedings of the ACM International Conference on Interactive Media Experiences, Aveiro, JB, Portugal, June 22-24, 2022. Association for Computing Machinery, New York, NY, pp. 261-266, ACM International Conference on Interactive Media Experiences, IMX 2022, Aveiro, Portugal, 22/06/22. https://doi.org/10.1145/3505284.3532969

Grasping Temperature: Thermal Feedback in VR Robot Teleoperation. / Fermoselle, Leonor; Toet, Alexander; Hoeba, Nirul et al.
IMX '22: Proceedings of the ACM International Conference on Interactive Media Experiences, Aveiro, JB, Portugal, June 22-24, 2022. New York, NY: Association for Computing Machinery, 2022. p. 261-266.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Toet, Alexander

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AU - van der Stap, Nanda

AU - ter Haar, Frank B.

AU - van Erp, Jan

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AB - 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.

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Fermoselle L, Toet A, Hoeba N, van Bruggen J, van der Stap N, ter Haar FB et al. Grasping Temperature: Thermal Feedback in VR Robot Teleoperation. In IMX '22: Proceedings of the ACM International Conference on Interactive Media Experiences, Aveiro, JB, Portugal, June 22-24, 2022. New York, NY: Association for Computing Machinery. 2022. p. 261-266 doi: 10.1145/3505284.3532969

Grasping Temperature: Thermal Feedback in VR Robot Teleoperation

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