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Myrthe Erica Jeanne Tilleman

Doctoral Research Fellow - Networks and Distributed Systems

Email metillem@ifi.uio.no

Room 5161

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Visiting address Gaustadalléen 23B 0373 Oslo

Postal address Postboks 1080 Blindern 0316 Oslo

Other affiliations Faculty of Mathematics and Natural Sciences (Student)

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Doctoral research fellow working at the Sustainable Immersive Networks Lab (SINLAB) under supervision of Prof. Özgü Alay and Prof. Carsten Griwodz on the project titled: "Brain-computer interface integration for latency hiding in immersive multimodal teleoperations".

Educational background:

2021-2023: MSc in Human Neuroscience, University of Turku, Finland
2023: Master thesis "Towards Bidirectional Lower Limb Prostheses: Restoring Proprioception Using EMG Based Vibrotactile Feedback" at Össur, Iceland
2016-2019: BSc in Technology and Liberal Arts & Sciences, University College Twente, University of Twente, The Netherlands
2018: Exchange semester, Waseda University, Japan

Tags: Immersive multimedia, Robotics, Machine Learning, Neuroscience, Motion capture, Human-robot interaction, Brain-computer interface

Pattiwar, Shravan Kumar; Tilleman, Myrthe; Kousias, Konstantinos; Saxena, Paresh; Alay, Ozgu & Griwodz, Carsten (2026). Impact of Latency on User Experience in Immersive Teleoperation: A Study with Motion Capture Gloves and Dexterous Robotic Hand. In Malekian, Reza & Singh, Dhananjay (Ed.), 2025 IEEE Smart World Congress (SWC). IEEE (Institute of Electrical and Electronics Engineers). ISSN 9798331575984. p. 1787–1794. doi: 10.1109/swc65939.2025.00277. Full text in Research Archive Show summary
Understanding latency tolerance in teleoperated systems is crucial to ensure smooth human-robot interaction (HRI). In this study, we investigate the effects of network-induced delays on teleoperation using a controlled setup featuring a Rokoko Smartglove and a Shadow Robot Dexterous Hand. Through our experiments, users control the robotic hand in real-time while receiving visual feedback either directly or via a VR headset, delivering an immersive, metaverse-oriented experience. To introduce controlled delays, we utilize an Ingress Delay Mechanism for precise latency application. A user study involving 33 participants was organized to evaluate the impact of latency on user experience in terms of responsiveness, naturalness, control, and level of frustration. Results show that VR-based teleoperation is more sensitive to delays than direct HRI. In particular, perceived responsiveness decreased significantly with an additional 200 ms of delay, while frustration levels showed a significant increase with 150 ms of additional delay. These findings provide valuable insights towards optimizing future immersive teleoperation systems.

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Ruiz, Emilio; Kousias, Konstantinos; Kumar, Shravan; Tilleman, Myrthe; Beferull-Lozano, Baltasar & Alay, Özgü [Show all 8 contributors for this article] (2025). On the limits of trajectory prediction for hand movement trajectories with motion-capture sensors. Full text in Research Archive

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Published Aug. 29, 2024 1:19 PM - Last modified Nov. 14, 2024 1:40 PM