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Virtual Reality Integrated Multi-Depth-Camera-System for Real-Time Telepresence and Telemanipulation in Caregiving

Conrad Fifelski-von Böhlen; Anna Brinkmann; Stephan Mavers; Sandra Hellmers; Andreas Hein;

Virtual Reality Integrated Multi-Depth-Camera-System for Real-Time Telepresence and Telemanipulation in Caregiving

Abstract

Telepresence and telemanipulation robotics are suitable solutions to relieve humans from direct health risks and repetitive or unhealthy work. Through demographic changes in western countries and the COVID-19 pandemic, this relief is also considered for healthcare workers, especially caregivers, as the demands for them rises. The requirements are intuitively usable telerobotic and telepresence systems for remote assistance, to cut the high physical strain in manual patient transfers and the reduction of contact with infected patients. To ensure this, key technologies like 3D imaging and perception systems are essential. In this work, we present a novel, lightweight telepresence and telemanipulation system, specialized for caregiving. It allows an operator, wearing a virtual reality headset, to immerse into a sensor system captured scene on a distant location in real-time, with low latency of 250 ms and up to 30 fps refresh rate. Extensive measurement shows that 97.1% of the relevant point cloud data is below 1 cm error and 99.5 % is below 1.6 cm, making the system suitable for the application.

Subjects by Vocabulary

Microsoft Academic Graph classification: Virtual reality Artificial intelligence business.industry business Robotics Computer science Robot Human–computer interaction

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  • citations
    This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    5
    popularity
    This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
    Average
    influence
    This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
    Average
    impulse
    This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
    Average
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citations
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
5
Average
Average
Average
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