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Smartphone teleoperation for self-balancing telepresence robots

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


Original languageEnglish
Title of host publicationVISIGRAPP 2019 - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications
EditorsAndreas Kerren, Christophe Hurter, Jose Braz
Number of pages8
ISBN (Electronic)9789897583544
Publication statusPublished - 2019
Publication typeA4 Article in a conference publication
EventInternational Conference on Computer Vision Theory and Applications - Prague, Czech Republic
Duration: 25 Feb 201927 Feb 2019


ConferenceInternational Conference on Computer Vision Theory and Applications
CountryCzech Republic


Self-balancing mobile platforms have recently been adopted in many applications thanks to their light-weight and slim build. However, inherent instability in their behaviour makes both manual and autonomous operation more challenging as compared to traditional self-standing platforms. In this work, we experimentally evaluate three teleoperation user interface approaches to remotely control a self-balancing telepresence platform: 1) touchscreen button user interface, 2) tilt user interface and 3) hybrid touchscreen-tilt user interface. We provide evaluation in quantitative terms based on user trajectories and recorded control data, and qualitative findings from user surveys. Both quantitative and qualitative results support our finding that the hybrid user interface (a speed slider with tilt turn) is a suitable approach for smartphone-based teleoperation of self-balancing telepresence robots. We also introduce a client-server based multi-user telepresence architecture using open source tools.


  • Teleoperation, Telepresence, User Interface

Publication forum classification

Field of science, Statistics Finland

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