IEEE Robotics & Automation Magazine - March 2022 - 80

ω ω
a
a
A
F
W
ω
ω
A
F
W
(a)
(b)
Figure 2. Three types of tasks in 2D space: (a) translational, (b) rotational, and (c) a combination of both.
τ
θbibi-1
(a)
(Phase 1)
Initiation
(Phase 2)
Acquisition
(Phase 3)
Transportation
(Phase 4)
Correction
(b)
(Phase 1)
Initiation
(Phase 2)
Acquisition
(Phase 3)
Transportation
(Phase 4)
Correction
[11] were the first to " merge " translational
and rotational terms into an
extended formulation based on (4).
They suggested that rotation and
translation can be accounted for by
effectively adding the sum of the IDs
for each one. The implication is that
both are independent transformations
explaining the spatial relationship of
an object. The simplicity of adding
both terms in their study into one ID
is supported by Kulik et al. [10]. The
latter also found that long task completion
times in object manipulation
can be attributed to increased cognitive
workload or excessive accuracy
requirements from researchers. Yet,
the latter finding still requires further
modeling of variations of accuracy
requirements to quantify this relationship.
Nevertheless, in both cases in
[10] and [11], combined movements
and spatial arrangements were limited
to 2D, i.e., following only a straight
line. As future work, the authors
pointed out that it is important to generalize
and extend a metric to three
dimensions for modeling VR navigation
and teleoperation [11]. Our work
addresses these limitations.
(c)
Figure 3. The system setup and the two types of interactions. The (a) retargeting
approach with a user's hand, the Leap Motion hand controller visualization of the joint
vectors, and the final motion retargeting of the robotic hand in Unity3D. The (b) pointing
and (c) manipulation tasks are broken down into four basic phases of interaction. The
difference between (b) and (c) lies in phase 2, where the object is grasped or attached,
depending on the type of interaction. ROS: Robot Operating System.
80 * IEEE ROBOTICS & AUTOMATION MAGAZINE * MARCH 2022
Methodology and Study Design
In this section, we introduce our system
setup, including the apparatus and
technologies that were used. We also
present our hand control approach
that enabled participants to interact
with virtual objects simulated by realistic
high-fidelity physics.
System Overview and Apparatus
Figure 3(a) illustrates the system, including
the simulation engine, Unity3D, and
all hardware and software. Two input
(c)
W/2
W/2
W/2
W/2

IEEE Robotics & Automation Magazine - March 2022

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - March 2022

Contents
IEEE Robotics & Automation Magazine - March 2022 - Cover1
IEEE Robotics & Automation Magazine - March 2022 - Cover2
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