We present a virtual reality (VR) teleoperation interface for a ground-based robot, featuring dense 3D environment reconstruction and a low latency video stream, with which operators can immersively explore remote environments. At the UK Atomic Energy Authority's (UKAEA) Remote Applications in Challenging Environments (RACE) facility, we applied the interface in a user study where trained robotics operators completed simulated nuclear monitoring and decommissioning style tasks to compare VR and traditional teleoperation interface designs. We found that operators in the VR condition took longer to complete the experiment, had reduced collisions, and rated the generated 3D map with higher importance when compared to non-VR operators. Additional physiological data suggested that VR operators had a lower objective cognitive workload during the experiment but also experienced increased physical demand. Overall the presented results show that VR interfaces may benefit work patterns in teleoperation tasks within the nuclear industry, but further work is needed to investigate how such interfaces can be integrated into real world decommissioning workflows.


    Access

    Download


    Export, share and cite



    Title :

    Evaluating Immersive Teleoperation Interfaces: Coordinating Robot Radiation Monitoring Tasks in Nuclear Facilities


    Contributors:

    Publication date :

    2023-07-04


    Remarks:

    In: 2023 IEEE International Conference on Robotics and Automation (ICRA). (pp. pp. 11972-11978). IEEE: London, UK. (2023)


    Type of media :

    Paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Vehicle Teleoperation Interfaces

    Fong, T. / Thorpe, C. | British Library Online Contents | 2001



    Human-Multi-Robot Teleoperation for Cooperative Manipulation Tasks using Wearable Haptic Devices

    Music, Selma / Salvietti, Gionata / Dohmann, Pablo et al. | BASE | 2017

    Free access

    Space Robot Teleoperation System

    Wang, Yaobing | Springer Verlag | 2020


    Design and Mixed-Reality Teleoperation of a Quadruped-Manipulator Robot for SAR Tasks

    Ulloa, Christyan Cruz / Domínguez, David / Barrientos, Antonio et al. | Springer Verlag | 2022