Kinematic evaluation of virtual walking trajectories

The effect of posture on virtual walking experience using foot vibrations

Virtual walking systems for stationary observers have been developed using multimodal stimulation such as vision, touch, and sound to overcome physical limitation. In previous studies, participants were typically positioned in either a standing or a seated position. It would be beneficial if bedridden users could have enough virtual walking experience. Thus, we aimed to investigate the effects of participants' posture and foot vibrations on the experience of virtual walking. They were either sitting, standing, or lying during observing a virtual scene of a walking avatar in the first-person perspective, while vibrations either synchronized or asynchronized (randomized) to the avatar's walking were applied to their feet. We found that the synchronized foot vibrations improved virtual walking experiences compared to asynchronous vibrations. The standing position consistently offered an improved virtual walking experience compared to sitting and lying positions with either the synchronous or asynchronous foot vibrations, while the difference between the siting and lying postures was small and not significant. Furthermore, subjective scores for posture matching between real and virtual postures, illusory body ownership, and sense of agency were significantly higher with the synchronous than the asynchronous vibration. These findings suggest that experiencing virtual walking with foot vibrations in a lying position is less effective than a standing position, but not much different from a sitting position.

Crowd Navigation in VR: Exploring Haptic Rendering of Collisions

Virtual reality (VR) is a valuable experimental tool for studying human movement, including the analysis of interactions during locomotion tasks for developing crowd simulation algorithms. However, these studies are generally limited to distant interactions in crowds, due to the difficulty of rendering realistic sensations of collisions in VR. In this article, we explore the use of wearable haptics to render contacts during virtual crowd navigation. We focus on the behavioral changes occurring with or without haptic rendering during a navigation task in a dense crowd, as well as on potential after-effects introduced by the use haptic rendering. Our objective is to provide recommendations for designing VR setup to study crowd navigation behavior. To the end, we designed an experiment (N=23) where participants navigated in a crowded virtual train station without, then with, and then again without haptic feedback of their collisions with virtual characters. Results show that providing haptic feedback improved the overall realism of the interaction, as participants more actively avoided collisions. We also noticed a significant after-effect in the users' behavior when haptic rendering was once again disabled in the third part of the experiment. Nonetheless, haptic feedback did not have any significant impact on the users' sense of presence and embodiment.

A Fully-Immersive Virtual Reality Setup to Study Gait Modulation

Objective: Gait adaptation to environmental challenges is fundamental for independent and safe community ambulation. The possibility of precisely studying gait modulation using standardized protocols of gait analysis closely resembling everyday life scenarios is still an unmet need.

Methods: We have developed a fully-immersive virtual reality (VR) environment where subjects have to adjust their walking pattern to avoid collision with a virtual agent (VA) crossing their gait trajectory. We collected kinematic data of 12 healthy young subjects walking in real world (RW) and in the VR environment, both with (VR/A+) and without (VR/A-) the VA perturbation. The VR environment closely resembled the RW scenario of the gait laboratory. To ensure standardization of the obstacle presentation the starting time speed and trajectory of the VA were defined using the kinematics of the participant as detected online during each walking trial.

Results: We did not observe kinematic differences between walking in RW and VR/A-, suggesting that our VR environment per se might not induce significant changes in the locomotor pattern. When facing the VA all subjects consistently reduced stride length and velocity while increasing stride duration. Trunk inclination and mediolateral trajectory deviation also facilitated avoidance of the obstacle.

Conclusions: This proof-of-concept study shows that our VR/A+ paradigm effectively induced a timely gait modulation in a standardized immersive and realistic scenario. This protocol could be a powerful research tool to study gait modulation and its derangements in relation to aging and clinical conditions.

Influence of body visualization in VR during the execution of motoric tasks in different age groups

Virtual reality (VR) has become a common tool and is often considered for sport-specific purposes. Despite the increased usage, the transfer of VR-adapted skills into the real-world (RW) has not yet been sufficiently studied, and it is still unknown how much of the own body must be visible to complete motoric tasks within VR. In addition, it should be clarified whether older adults also need to perceive their body within VR scenarios to the same extent as younger people extending the usability. Therefore, younger (18-30 years old) and elderly adults (55 years and older) were tested (n = 42) performing a balance-, grasping- and throwing task in VR (HMD based) accompanied with different body visualization types in VR and in the RW having the regular visual input of body's components. Comparing the performances between the age groups, the time for completion, the number of steps (balance task), the subjective estimation of difficulty, the number of errors, and a rating system revealing movements' quality were considered as examined parameters. A one-way ANOVA/Friedmann with repeated measurements with factor [body visualization] was conducted to test the influence of varying body visualizations during task completion. Comparisons between the conditions [RW, VR] were performed using the t-Tests/Wilcoxon tests, and to compare both age groups [young, old], t-Tests for independent samples/Mann-Whitney-U-Test were used. The analyses of the effect of body visualization on performances showed a significant loss in movement's quality when no body part was visualized (p < .05). This did not occur for the elderly adults, for which no influence of the body visualization on their performance could be proven. Comparing both age groups, the elderly adults performed significantly worse than the young age group in both conditions (p < .05). In VR, both groups showed longer times for completion, a higher rating of tasks' difficulty in the balance and throwing task, and less performance quality in the grasping task. Overall, the results suggest using VR for the elderly with caution to the task demands, and the visualization of the body seemed less crucial for generating task completion. In summary, the actual task demands in VR could be successfully performed by elderly adults, even once one has to reckon with losses within movement's quality. Although more different movements should be tested, basic elements are also realizable for elderly adults expanding possible areas of VR applications.

Motor adaptation to real-life external environments using immersive virtual reality: A pilot study

INTRODUCTION

Virtual reality (VR) has been described as an emerging therapeutic strategy to promote motor adaptation in different populations. The aim of this study was to investigate the effect of virtual environment demands, provided by an immersive VR system, on kinematic and spatio-temporal gait parameters in healthy young participants.

METHODS

Fifteen healthy young participants participated in this experimental study performing, in sequence, a baseline natural walking (NW) block, two different virtual environment walking blocks (snowy and crowded conditions), and a mixed walking block (including NW, snowy, and crowded conditions). Participants' Center-of-Mass (COM) excursion angle, medio-lateral (ML) COM excursion, step length, and walking speed were analyzed for each trial.

RESULTS

COM excursion angle and ML-COM excursion increased significantly during the first snowy and crowded VR trials compared to NW trials, while walking speed and step length decreased only for the snowy conditions. COM excursion angle and ML-COM excursion increased significantly from the first to the fourth VR snowy trial and decreased from the first to the fourth VR crowded trial. Participants retained the acquired motor adaptations even after the mixed block.

CONCLUSION

This study showed that kinematic and spatio-temporal gait parameters of young participants changed according to the virtual environment demands provided for each virtual scenario. In addition, all participants showed a consistent gait adaptation process to each virtual environment across the VR trials. The present findings highlight the impact of VR for gait adaptation, suggesting that VR training could modify motor behavior and enhance the motor adaptation process in healthy young participants.

Influence of path curvature on collision avoidance behaviour between two walkers

Navigating crowded community spaces requires interactions with pedestrians that follow rectilinear and curvilinear trajectories. In the case of rectilinear trajectories, it has been shown that the perceived action opportunities of the walkers might be afforded based on a future distance of closest approach. However, little is known about collision avoidance behaviours when avoiding walkers that follow curvilinear trajectories. Twenty-two participants were immersed in a virtual environment and avoided a virtual human (VH) that followed either a rectilinear path or a curvilinear path with a 5 m or 10 m radius curve at various distances of closest approach. Compared to a rectilinear path (control condition), the curvilinear path with a 5 m radius yielded more collisions when the VH approached from behind the participant and more inversions when the VH approached from in-front. During each trial, the evolution of the future distance of closest approach showed similarities between rectilinear paths and curvilinear paths with a 10 m radius curve. Overall, with few collisions and few inversions of crossing order, we can conclude that participants were capable of predicting future distance of closest approach of virtual walkers that followed curvilinear trajectories. The task was solved with similar avoidance adaptations to those observed for rectilinear interactions. These findings should inform future endeavors to further understand collision avoidance strategies and the role of-for example-non-constant velocities.

Evaluating Human Movement Coordination During Immersive Walking in a Virtual Crowd

This paper describes our investigation on how participants coordinate movement behavior in relation to a virtual crowd that surrounds them while immersed in a virtual environment. The participants were immersed in a virtual metropolitan city and were instructed to cross the road and reach the opposite sidewalk. The participants performed the task ten times. The virtual crowd that surrounded them was scripted to move in the same direction. During the experiment, several measurements were obtained to evaluate human movement coordination. Moreover, the time and direction in which the participants started moving toward the opposite sidewalk were also captured. These data were later used to initialize the parameters of simulated characters that were scripted to become part of the virtual crowd. Measurements were extracted from the simulated characters and used as a baseline to evaluate the movement coordination of the participants. By analyzing the data, significant differences between the movement behaviors of the participants and the simulated characters were found. However, simple linear regression analyses indicated that the movement behavior of participants was moderately associated with the simulated characters' movements when performing a locomotive task within a virtual crowd population. This study can be considered as a baseline for further research that evaluates the movement coordination of participants during human-virtual-crowd interactions using measurements obtained by the simulated characters.

Spatial Analysis of Navigation in Virtual Geographic Environments

Human performance and navigation activity in virtual environments can be measured and assessed with the aim to draw specific conclusions about human cognition. This paper presents an original virtual geographic environment (VGE) designed and used for this purpose. The presented research is rooted in an interdisciplinary approach combining knowledge and principles from the fields of psychology, cartography, and information technologies. The VGE was embedded with user logging functionality to provide a basis from which conclusions about human cognitive processes in a VGE could be drawn. The scope of this solution is introduced, described, and discussed under a behavioral measurement framework. An exploratory research design was adopted to demonstrate the environment’s utility in proof-of-concept user testing. Twenty participants were observed in interactive, semi-interactive and non-interactive tasks, their performance and individual differences were analyzed. The behavioral measurements were supplemented by Object-Spatial Imagery and a Verbal Questionnaire to determine the participants’ cognitive styles. In this sample, significant differences in exploration strategies between men and women were detected. Differences between experienced and non-experienced users were also found in their ability to identify spatial relations in virtual scenes. Finally, areas for future research areas and development were pinpointed.

The Effects of Motion Artifacts on Self-Avatar Agency

One way of achieving self-agency in virtual environments is by using a motion capture system and retargeting user’s motion to the virtual avatar. In this study, we investigated whether the self-agency is affected when motion artifacts appear on top of the baseline motion capture data assigned to the self-avatar. For this experiment, we implemented four artifacts: noise, latency, motion jump, and offset rotation of joints. The data provided directly from the motion capture system formed the baseline of the study. We developed three observation tasks to assess self-agency: self-observation, observation through a virtual mirror, and observation during locomotion. A questionnaire was adopted and used to capture the self-agency of participants. We analyzed the collected responses of participants to determine whether the motion artifacts significantly altered the participants’ sense of self-agency. The obtained results indicated that participants are not always sensitive to the motion artifacts assigned to the self-avatar, but the sense of self-agency is dependent on the observation task they were asked to perform. Implications for further research are discussed.

Collision Avoidance Behavior between Walkers: Global and Local Motion Cues

Daily activities require agents to interact with each other, such as during collision avoidance. The nature of visual information that is used for a collision free interaction requires further understanding. We aim to manipulate the nature of visual information in two forms, global and local information appearances. Sixteen healthy participants navigated towards a target in an immersive computer-assisted virtual environment (CAVE) using a joystick. A moving passive obstacle crossed the participant's trajectory perpendicularly at various pre-defined risks of collision distances. The obstacle was presented with one of five virtual appearances, associated to global motion cues (i.e., a cylinder or a sphere), or local motion cues (i.e., only the legs or the trunk). A full body virtual walker, showing both local and global motion cues, used as a reference condition. The final crossing distance was affected by the global motion appearances, however, appearance had no qualitative effect on motion adaptations. These findings contribute towards further understanding what information people use when interacting with others.

Walking with Virtual People: Evaluation of Locomotion Interfaces in Dynamic Environments

Navigating in virtual environments requires using some locomotion interfaces, especially when the dimensions of the environment exceed the ones of the Virtual Reality system. Locomotion interfaces induce some biases both in the perception of the self-motion or in the formation of virtual locomotion trajectories. These biases have been mostly evaluated in the context of static environments, and studies need to be revisited in the new context of populated environments where users interact with virtual characters. We focus on a situation of collision avoidance between a real participant and a virtual character, and compared it to previous studies on real walkers. Our results show that, as in reality, the risk of future collision is accurately anticipated by participants, however with delay. We also show that collision avoidance trajectories formed in VR have common properties with real ones, with some quantitative differences in avoidance distances. More generally, our evaluation demonstrates that reliable results can be obtained for qualitative analysis of small scale interactions in VR. We discuss these results in the perspective of a VR platform for large scale interaction applications, such as in a crowd, for which real data are difficult to gather.

Altering User Movement Behaviour in Virtual Environments

In immersive Virtual Reality systems, users tend to move in a Virtual Environment as they would in an analogous physical environment. In this work, we investigated how user behaviour is affected when the Virtual Environment differs from the physical space. We created two sets of four environments each, plus a virtual replica of the physical environment as a baseline. The first focused on aesthetic discrepancies, such as a water surface in place of solid ground. The second focused on mixing immaterial objects together with those paired to tangible objects. For example, barring an area with walls or obstacles. We designed a study where participants had to reach three waypoints laid out in such a way to prompt a decision on which path to follow based on the conflict between the mismatching visual stimuli and their awareness of the real layout of the room. We analysed their performances to determine whether their trajectories were altered significantly from the shortest route. Our results indicate that participants altered their trajectories in presence of surfaces representing higher walking difficulty (for example, water instead of grass). However, when the graphical appearance was found to be ambiguous, there was no significant trajectory alteration. The environments mixing immaterial with physical objects had the most impact on trajectories with a mean deviation from the shortest route of 60 cm against the 37 cm of environments with aesthetic alterations. The co-existance of paired and unpaired virtual objects was reported to support the idea that all objects participants saw were backed by physical props. From these results and our observations, we derive guidelines on how to alter user movement behaviour in Virtual Environments.

Going Through, Going Around: A Study on Individual Avoidance of Groups

When avoiding a group, a walker has two possibilities: either he goes through it or around it. Going through very dense groups or around huge ones would not seem natural and could break any sense of presence in a virtual environment. This paper aims to enable crowd simulators to handle such situations correctly. To this end, we need to understand how real humans decide to go through or around groups. As a first hypothesis, we apply the Principle of Minimum Energy (PME) on different group sizes and density. According to this principle, a walker should go around small and dense groups whereas he should go through large and sparse groups. Such principle has already been used for crowd simulation; the novelty here is to apply it to decide on a global avoidance strategy instead of local adaptations only. Our study quantifies decision thresholds. However, PME leaves some inconclusive situations for which the two solutions paths have similar energetic costs. In a second part, we propose an experiment to corroborate PME decisions thresholds with real observations. As controlling the factors of an experiment with many people is extremely hard, we propose to use Virtual Reality as a new method to observe human behavior. This work represents the first crowd simulation algorithm component directly designed from a VR-based study. We also consider the role of secondary factors in inconclusive situations. We show the influence of the group appearance and direction of relative motion in the decision process. Finally, we draw some guidelines to integrate our conclusions to existing crowd simulators and show an example of such integration. We evaluate the achieved improvements.