Alleviate the Cybersickness in VR Teleoperation by Constructing the Reference Space in the Human-Machine Interface

The introduction of virtual reality into the teleoperation system can enhance the three-dimensional and immersive sense of visual feedback, but the serious cybersickness caused by it needs to be solved urgently. Scholars have proposed many methods proceed from the hardware or software aspect to alleviate cybersickness but increased the user's mental burden and physical exertion to some extent. Inspired by the static frame hypothesis (RFH), this research proposes a method to alleviate cybersickness by rendering virtual reference space in the virtual environment. This method aims to build a three-dimensional reference space through the rendering plane to help users establish a stable feeling on the ground of the real environment in the virtual environment, thereby alleviating cybersickness. The experiment results show that rendering the reference space in a virtual teleoperation environment can significantly alleviate the cybersickness. Specifically, the total cybersickness score (TS) of participants in the virtual environment with a reference space was significantly lower than that of a virtual environment without a reference space (0.023*), a decrease of 9%. Among them, the SSQ-D score of participants in the virtual environment with a reference space is significantly lower than the virtual environment without reference space (p < 0.001***), which is reduced by 19.7%.