A Physics-based Virtual Reality System Design and Evaluation by
Simulating Human-Robot Collaboration
Abstract
Recent advancements in VR technology facilitate tracking real-world
objects and users’ movements in the virtual environment (VE) and inspire
researchers to develop a physics-based haptic system (i.e., real object
haptics) instead of computer-generated haptic feedback. However, there
is limited research on the efficacy of such VR systems in enhancing
operators’ sensorimotor learning for tasks that require high motor and
physical demands. Therefore, this study aimed to design and evaluate the
efficacy of a physics-based virtual reality (VR) system that provides
users realistic cutaneous and kinesthetic haptic feedback. We designed a
physics-based VR system, named PhyVirtual, and simulated human-robot
collaborative (HRC) sequential pick-and-place lifting tasks in the VE.
Participants performed the same tasks in the real environment (RE) with
human-human collaboration instead of human-robot collaboration. We used
a custom-designed questionnaire, the NASA-TLX, and electromyography
activities from biceps, middle and anterior deltoid muscles to determine
user experience, workload, and neuromuscular dynamics, respectively.
Overall, the majority of responses (>65%) demonstrated
that the system is easy-to-use, easy-to-learn, and effective in
improving motor skill performance. While compared to tasks performed in
the RE, the PhyVirtual system placed significantly lower physical demand
(124.90%; p < 0.05) on the user. The electromyography data
exhibited similar trends (p > 0.05; r > 0.89)
for both environments. These results show that the PhyVirtual system is
an effective tool to simulate safe human-robot collaboration commonly
seen in many modern warehousing settings. Moreover, it can be used as a
viable replacement for live sensorimotor training in a wide range of
fields.