A Tool for Organizing Key Characteristics of Virtual, Augmented, and Mixed Reality for Human-Robot Interaction Systems: Synthesizing VAM-HRI Trends and Takeaways

Frameworks have begun to emerge to categorize virtual, augmented, and mixed reality (VAM) technologies that provide immersive, intuitive interfaces to facilitate human-robot interaction (HRI). These frameworks, however, fail to capture key characteristics of the growing subfield of VAM-HRI and can be difficult to consistently apply because of continuous scales. This work builds upon these prior frameworks through the creation of a tool for organizing key characteristics of VAM-HRI systems (TOKCS). The TOKCS discretizes the continuous scales used within prior works for more consistent classification and adds additional characteristics related to a robot's internal model, anchor locations, manipulability, and the system's software and hardware. To showcase the TOKCS's capability, it is applied to the 10 papers from the Fourth International Workshop on VAM-HRI and examined for key trends and takeaways. These trends highlight the expressive capability of the TOKCS while also helping frame newer trends and future work recommendations for VAM-HRI research. © 1994-2011 IEEE.