• English
    • العربية
  • العربية
  • Login
  • QU
  • QU Library
  •  Home
  • Communities & Collections
  • Help
    • Item Submission
    • Publisher policies
    • User guides
    • FAQs
  • About QSpace
    • Vision & Mission
View Item 
  •   Qatar University Digital Hub
  • Qatar University Institutional Repository
  • Academic
  • Faculty Contributions
  • College of Engineering
  • Computer Science & Engineering
  • View Item
  • Qatar University Digital Hub
  • Qatar University Institutional Repository
  • Academic
  • Faculty Contributions
  • College of Engineering
  • Computer Science & Engineering
  • View Item
  •      
  •  
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Piton: Investigating the Controllability of a Wearable Telexistence Robot

    Thumbnail
    View/Open
    sensors-22-08574-with-cover.pdf (7.628Mb)
    Date
    2022
    Author
    Iskandar, A.
    Al-Sada, M.
    Miyake, T.
    Saraiji, Y.
    Halabi, O.
    Nakajima, T.
    ...show more authors ...show less authors
    Metadata
    Show full item record
    Abstract
    The COVID-19 pandemic impacted collaborative activities, travel, and physical contact, increasing the demand for real-time interactions with remote environments. However, the existing remote communication solutions provide limited interactions and do not convey a high sense of presence within a remote environment. Therefore, we propose a snake-shaped wearable telexistence robot, called Piton, that can be remotely used for a variety of collaborative applications. To the best of our knowledge, Piton is the first snake-shaped wearable telexistence robot. We explain the implementation of Piton, its control architecture, and discuss how Piton can be deployed in a variety of contexts. We implemented three control methods to control Piton: HM—using a head-mounted display (HMD), HH—using an HMD and hand-held tracker, and FM—using an HMD and a foot-mounted tracker. We conducted a user study to investigate the applicability of the proposed control methods for telexistence, focusing on body ownership (Alpha IVBO), mental and physical load (NASA-TLX), motion sickness (VRSQ), and a questionnaire to measure user impressions. The results show that both the HM and HH provide relevantly high levels of body ownership, had high perceived accuracy, and were highly favored, whereas the FM control method yielded the lowest body ownership effect and was least favored. We discuss the results and highlight the advantages and shortcomings of the control methods with respect to various potential application contexts. Based on our design and evaluation of Piton, we extracted a number of insights and future research directions to deepen our investigation and realization of wearable telexistence robots. 2022 by the authors.
    DOI/handle
    http://dx.doi.org/10.3390/s22218574
    http://hdl.handle.net/10576/47992
    Collections
    • Computer Science & Engineering [‎2482‎ items ]

    entitlement


    Qatar University Digital Hub is a digital collection operated and maintained by the Qatar University Library and supported by the ITS department

    Contact Us | Send Feedback
    Contact Us | Send Feedback | QU

     

     

    Home

    Submit your QU affiliated work

    Browse

    All of Digital Hub
      Communities & Collections Publication Date Author Title Subject Type Language Publisher
    This Collection
      Publication Date Author Title Subject Type Language Publisher

    My Account

    Login

    Statistics

    View Usage Statistics

    About QSpace

    Vision & Mission

    Help

    Item Submission Publisher policiesUser guides FAQs

    Qatar University Digital Hub is a digital collection operated and maintained by the Qatar University Library and supported by the ITS department

    Contact Us | Send Feedback
    Contact Us | Send Feedback | QU

     

     

    Video