The Effect of Visuomotor Latency on Steering Behavior in Virtual Reality

Visual feedback latency in virtual reality systems is inherent due to the computing time it takes to simulate the effects of user actions. Depending upon the nature of interaction and amount of latency, the impact of this latency could range from a minor degradation to a major disruption of performance. The goal of this study was to examine how visuomotor latency impacts users’ performance in a continuous steering task and how users adapt to this latency with experience. The task involved steering a bike along an illuminated path in a dark environment viewed in an HTC Vive head-mounted virtual reality display. We examined how users adapt to visuomotor latency in two different conditions: 1) when the user controlled the steering while the bike moved forward at a constant speed, and 2) when the user controlled the steering and the speed of the bike through pedaling and braking. We found that users in both conditions started with a large steering error at the beginning of exposure to visuomotor latency but then quickly adapted to the delay. We also found that when users could control their speed, they adjusted their speed based on the complexity of the path (i.e., proximity to turns) and they gradually increased their speed as they adapted to latency and gained better control over their movement. The current work supports the idea that users can adapt to visual feedback delay in virtual reality regardless of whether they control the pace of movement. The results inform the design of virtual reality simulators and teleoperation systems and give insight into perceptual-motor adaptation in the presence of latency.

A web application for remote control of ROS robot based on WebSocket protocol and Django development environment

The development of teleoperation systems, robots, or any physical part of the system can be costly and if something goes wrong it can lead to development overdue. Precisely for these reasons, engineers and scientists today resort to the development of simulated systems before the construction of a real system. Robot Operating System (ROS) is one of the most popular solutions for robot development, manipulation, and simulation. In this paper, we present a web application for remote control of a ROS robot. The robot is controlled via a web application that is used as a virtual Joystick. Also, in this paper, an experimental work analysis of the projected system is performed. Further research possibilities include upgrading the presented web interface, adding certain motion autonomy sensors, or integrating some path planning algorithms.

Adaptive-observer-based robust control for a time-delayed teleoperation system with scaled four-channel architecture

This article presents an innovative adaptive-observer-based scaled four-channel (4-CH) control approach applying damping injection for nonlinear teleoperation systems, which unify the study of robotic dynamic uncertainties, operator/environment force acquirements and asymmetric time-varying delays in the same framework. First, a scaled 4-CH scheme with damping injection is developed to handle time-varying delay while guaranteeing the passivity of communication channels. Then, the improved extended active observer (IEAOB) is deployed to derive the operator/environment force while addressing the issues of measurement noise and model uncertainties. Furthermore, the system stability is analyzed by choosing Lyapunov functional. Finally, the proposed method is validated through simulation.

Control of teleoperation systems in the presence of cyber attacks: A survey

<p>The teleoperation system is often composed of a human operator, a local master manipulator, and a remote slave manipulator that are connected by a communication network. This paper proposes a survey on feedback control design for the bilateral teleoperation systems (BTSs) in nominal situations and in the presence of cyber-attacks. The main idea of the presented methods is to achieve the stability of a delayed bilateral teleoperation system in the presence of several kinds of cyber attacks. In this paper, a comprehensive survey on control systems for BTSs under cyber-attacks is discussed. Finally, we discuss the current and future problems in this field.</p>