ReachVox: Clutter-Free Reachability Visualization for Robot Motion Planning in Virtual Reality

Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic environments that might need constant robot motion path adaptation. In this paper, we investigate whether a minimalistic encoding of the reachability of a point near an object of interest, which we call ReachVox, can aid the collaboration between a remote operator and a robotic arm in VR. Through a user study ($\mathrm{n}=20$), we indicate the strength of the visualization relative to a point-based reachability check-up.