AvatARoid : using a motion-mapped AR overlay to bridge the embodiment gap between robot and teleoperator in robot-mediated telepresence
department or school: Science, Faculty of
department or school: Computer Science, Department of
data provider: DSpace
degree campus: UBCV
creator: Ghimire, Amit
issued: 2023-12-06T17:33:11Z
issued: 2023
related degree: Master of Science - MSc
degree grantor: University of British Columbia
description: In robot-mediated telepresence, the teleoperator's physical embodiment enhances social interaction with on-site users. Current user representation techniques may result in disparities between the robotic embodiment and the teleoperator's representation, resulting in perceptual dissonance in on-site users which can degrade the interaction quality. To address this dissonance felt by on-site users, we introduce AvatARoid, a novel system that emphasizes the teleoperator's embodiment by superimposing a motion-mapped AR overlay of the teleoperator’s avatar on a humanoid robot. To assess the conceptual validity of AvatARoid, we implemented our system with a virtual robot in a realistic AR simulation carefully designed to maximize the sense of co-presence with the virtual robot. Since our evaluation focused on the different visual representations of the teleoperator, we designed the appearance and behavior of the virtual robot in our simulation to appear visually plausible and realistic within the experimental environment when augmented with different representations of the teleoperator. We conducted a mixed-method between-participants study (n=48) where participants engaged in a "get-to-know-you'' conversation followed by a word guessing game with a confederate teleoperator, represented as a virtual humanoid robot with (a) only the voice of the teleoperator (b) voice and video, or (c) AvatARoid. Our findings suggest that the AvatARoid system significantly improved the on-site user's perceived embodiment of the teleoperator compared to other conditions, particularly enhancing the sense that the teleoperator was situated in the same location as the robot and adding confidence that the teleoperator was in control of the robot. Additionally, AvatARoid allowed for more expressive non-verbal gestures, leading to engaging interactions. In contrast, the video and baseline conditions often resulted in on-site users feeling a pronounced disconnect between the teleoperator and the ro…
aggregated CHO: https://circle.library.ubc.ca/rest/handle/2429/86769
note: AvatARoid: Using a Motion-Mapped AR Overlay toBridge the Embodiment Gap Between Robot andTeleoperator in Robot-Mediated TelepresencebyAmit GhimireA THESIS SUBMITTED IN PARTIAL FULFILLMENTOF THE REQUIREMENTS FOR THE DEGREE OFMaster of ScienceinTHE FACULTY OF GRADUATE AND POSTDOCTORALSTUDIES(Computer Science)The University of British Columbia(Vancouver)December 2023© Amit Ghimire, 2023The following individuals certify that they have read, and recommend to the Fac-ulty of Graduate and Postdoctoral Studies for acceptance, the thesis entitled:AvatARoid: Using a Motion-Mapped AR Overlay to Bridge the Em-bodiment Gap Between Robot and Teleoperator in Robot-MediatedTelepresencesubmitted by Amit Ghimire in partial fulfillment of the requirements for the de-gree of Master of Science in Computer Science.Examining Committee:Dongwook Yoon, Associate Professor, Computer Science, UBCSupervisorRobert Xiao, Assistant Professor, Computer Science, UBCSupervisory Committee MemberiiAbstractIn robot-mediated telepresence, the teleoperator’s physical embodiment enhancessocial interaction with on-site users. Current user representation techniques mayresult in disparities between the robotic embodiment and the teleoperator’s repre-sentation, resulting in perceptual dissonance in on-site users which can degradethe interaction quality. To address this dissonance felt by on-site users, we intro-duce AvatARoid, a novel system that emphasizes the teleoperator’s embodimentby superimposing a motion-mapped AR overlay of the teleoperator’s avatar on ahumanoid robot. To assess the conceptual validity of AvatARoid, we implementedour system with a virtual robot in a realistic AR simulation carefully designed tomaximize the sense of co-presence with the virtual robot. Since our evaluationfocused on the different visual representations of the teleoperator, we designedthe appearance and behavior of the virtual robot in our simulation to appear visu-ally plausible and realistic within the experimental envi…
has type: Thesis/Dissertation
date issued: 2024-05
is shown at: 10.14288/1.0438038
language: eng
degree discipline: Computer Science
provider: Vancouver : University of British Columbia Library
publisher: University of British Columbia
rights: Attribution-NonCommercial-NoDerivatives 4.0 International
rights URI: http://creativecommons.org/licenses/by-nc-nd/4.0/
scholar level: Graduate
contributor: Yoon, Dongwook
type: Text
identifier URI: http://hdl.handle.net/2429/86769