University of Oulu

Mimnaugh, K. J., Suomalainen, M., Becerra, I., Lozano, E., Murrieta-Cid, R., & LaValle, S. M. (2021). Analysis of user preferences for robot motions in immersive telepresence. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4252–4259.

Analysis of user preferences for robot motions in immersive telepresence

Saved in:
Author: Mimnaugh, Katherine J.1; Suomalainen, Markku1; Becerra, Israel2;
Organizations: 1Center of Ubiquitous Computing, Faculty of Information Technology and Electrical Engineering, University of Oulu, Finland
2Centro de Investigación en Matemáticas (CIMAT), Guanajuato, Mexico
Format: article
Version: accepted version
Access: open
Online Access: PDF Full Text (PDF, 3.7 MB)
Persistent link:
Language: English
Published: Institute of Electrical and Electronics Engineers, 2021
Publish Date: 2022-03-15


This paper considers how the motions of a telepresence robot moving autonomously affect a person immersed in the robot through a head-mounted display. In particular, we explore the preference, comfort, and naturalness of elements of piecewise linear paths compared to the same elements on a smooth path. In a user study, thirty-six subjects watched panoramic videos of three different paths through a simulated museum in virtual reality and responded to questionnaires regarding each path. Preference for a particular path was influenced the most by comfort, forward speed, and characteristics of the turns. Preference was also strongly associated with the users’ perceived naturalness, which was primarily determined by the ability to see salient objects, the distance to the walls and objects, as well as the turns. Participants favored the paths that had a one meter per second forward speed and rated the path with the least amount of turns as the most comfortable.

see all

Series: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
ISSN: 2153-0858
ISSN-E: 2153-0866
ISSN-L: 2153-0858
ISBN: 978-1-6654-1714-3
ISBN Print: 978-1-6654-1715-0
Pages: 4252 - 4259
DOI: 10.1109/IROS51168.2021.9636852
Host publication: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference: International Conference on Intelligent Robots and System
Type of Publication: A4 Article in conference proceedings
Field of Science: 113 Computer and information sciences
213 Electronic, automation and communications engineering, electronics
Funding: This work was supported in part by the Business Finland Project HUMORcc 6926/31/2018, in part by the Academy of Finland Project PERCEPT, 322637, in part by the US National Science Foundation under Grants 035345 and 1328018, and in part by the Secretaría de Innovación, Ciencia Y Educación Superior SICES under Grant SICES/CONV/250/2019 CIMAT.
Academy of Finland Grant Number: 322637
Detailed Information: 322637 (Academy of Finland Funding decision)
Copyright information: © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.