AHCI RESEARCH GROUP
Publications
Papers published in international journals,
proceedings of conferences, workshops and books.
OUR RESEARCH
Scientific Publications
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You can expand the Abstract, Links and BibTex record for each paper.
2025
Song, T.; Pabst, F.; Eck, U.; Navab, N.
Enhancing Patient Acceptance of Robotic Ultrasound through Conversational Virtual Agent and Immersive Visualizations Journal Article
In: IEEE Transactions on Visualization and Computer Graphics, vol. 31, no. 5, pp. 2901–2911, 2025, ISSN: 10772626 (ISSN).
Abstract | Links | BibTeX | Tags: 3D reconstruction, adult, Augmented Reality, Computer graphics, computer interface, echography, female, human, Humans, Imaging, Intelligent robots, Intelligent virtual agents, Language Model, male, Medical robotics, Middle Aged, Mixed reality, Patient Acceptance of Health Care, patient attitude, Patient comfort, procedures, Real-world, Reality visualization, Robotic Ultrasound, Robotics, Three-Dimensional, three-dimensional imaging, Trust and Acceptance, Ultrasonic applications, Ultrasonic equipment, Ultrasonography, Ultrasound probes, User-Computer Interface, Virtual agent, Virtual assistants, Virtual environments, Virtual Reality, Visual languages, Visualization, Young Adult
@article{song_enhancing_2025,
title = {Enhancing Patient Acceptance of Robotic Ultrasound through Conversational Virtual Agent and Immersive Visualizations},
author = {T. Song and F. Pabst and U. Eck and N. Navab},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-105003687673&doi=10.1109%2fTVCG.2025.3549181&partnerID=40&md5=1d46569933582ecf5e967f0794aafc07},
doi = {10.1109/TVCG.2025.3549181},
issn = {10772626 (ISSN)},
year = {2025},
date = {2025-01-01},
journal = {IEEE Transactions on Visualization and Computer Graphics},
volume = {31},
number = {5},
pages = {2901–2911},
abstract = {Robotic ultrasound systems have the potential to improve medical diagnostics, but patient acceptance remains a key challenge. To address this, we propose a novel system that combines an AI-based virtual agent, powered by a large language model (LLM), with three mixed reality visualizations aimed at enhancing patient comfort and trust. The LLM enables the virtual assistant to engage in natural, conversational dialogue with patients, answering questions in any format and offering real-time reassurance, creating a more intelligent and reliable interaction. The virtual assistant is animated as controlling the ultrasound probe, giving the impression that the robot is guided by the assistant. The first visualization employs augmented reality (AR), allowing patients to see the real world and the robot with the virtual avatar superimposed. The second visualization is an augmented virtuality (AV) environment, where the real-world body part being scanned is visible, while a 3D Gaussian Splatting reconstruction of the room, excluding the robot, forms the virtual environment. The third is a fully immersive virtual reality (VR) experience, featuring the same 3D reconstruction but entirely virtual, where the patient sees a virtual representation of their body being scanned in a robot-free environment. In this case, the virtual ultrasound probe, mirrors the movement of the probe controlled by the robot, creating a synchronized experience as it touches and moves over the patient's virtual body. We conducted a comprehensive agent-guided robotic ultrasound study with all participants, comparing these visualizations against a standard robotic ultrasound procedure. Results showed significant improvements in patient trust, acceptance, and comfort. Based on these findings, we offer insights into designing future mixed reality visualizations and virtual agents to further enhance patient comfort and acceptance in autonomous medical procedures. © 1995-2012 IEEE.},
keywords = {3D reconstruction, adult, Augmented Reality, Computer graphics, computer interface, echography, female, human, Humans, Imaging, Intelligent robots, Intelligent virtual agents, Language Model, male, Medical robotics, Middle Aged, Mixed reality, Patient Acceptance of Health Care, patient attitude, Patient comfort, procedures, Real-world, Reality visualization, Robotic Ultrasound, Robotics, Three-Dimensional, three-dimensional imaging, Trust and Acceptance, Ultrasonic applications, Ultrasonic equipment, Ultrasonography, Ultrasound probes, User-Computer Interface, Virtual agent, Virtual assistants, Virtual environments, Virtual Reality, Visual languages, Visualization, Young Adult},
pubstate = {published},
tppubtype = {article}
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Robotic ultrasound systems have the potential to improve medical diagnostics, but patient acceptance remains a key challenge. To address this, we propose a novel system that combines an AI-based virtual agent, powered by a large language model (LLM), with three mixed reality visualizations aimed at enhancing patient comfort and trust. The LLM enables the virtual assistant to engage in natural, conversational dialogue with patients, answering questions in any format and offering real-time reassurance, creating a more intelligent and reliable interaction. The virtual assistant is animated as controlling the ultrasound probe, giving the impression that the robot is guided by the assistant. The first visualization employs augmented reality (AR), allowing patients to see the real world and the robot with the virtual avatar superimposed. The second visualization is an augmented virtuality (AV) environment, where the real-world body part being scanned is visible, while a 3D Gaussian Splatting reconstruction of the room, excluding the robot, forms the virtual environment. The third is a fully immersive virtual reality (VR) experience, featuring the same 3D reconstruction but entirely virtual, where the patient sees a virtual representation of their body being scanned in a robot-free environment. In this case, the virtual ultrasound probe, mirrors the movement of the probe controlled by the robot, creating a synchronized experience as it touches and moves over the patient's virtual body. We conducted a comprehensive agent-guided robotic ultrasound study with all participants, comparing these visualizations against a standard robotic ultrasound procedure. Results showed significant improvements in patient trust, acceptance, and comfort. Based on these findings, we offer insights into designing future mixed reality visualizations and virtual agents to further enhance patient comfort and acceptance in autonomous medical procedures. © 1995-2012 IEEE.
Gaglio, G. F.; Vinanzi, S.; Cangelosi, A.; Chella, A.
Intention Reading Architecture for Virtual Agents Proceedings Article
In: O., Palinko; L., Bodenhagen; J.-J., Cabibihan; K., Fischer; S., Šabanović; K., Winkle; L., Behera; S.S., Ge; D., Chrysostomou; W., Jiang; H., He (Ed.): Lect. Notes Comput. Sci., pp. 488–497, Springer Science and Business Media Deutschland GmbH, 2025, ISBN: 03029743 (ISSN); 978-981963521-4 (ISBN).
Abstract | Links | BibTeX | Tags: Chatbots, Cognitive Architecture, Cognitive Architectures, Computer simulation languages, Intelligent virtual agents, Intention Reading, Intention readings, Language Model, Large language model, Metaverse, Metaverses, Physical robots, Video-games, Virtual agent, Virtual assistants, Virtual contexts, Virtual environments, Virtual machine
@inproceedings{gaglio_intention_2025,
title = {Intention Reading Architecture for Virtual Agents},
author = {G. F. Gaglio and S. Vinanzi and A. Cangelosi and A. Chella},
editor = {Palinko O. and Bodenhagen L. and Cabibihan J.-J. and Fischer K. and Šabanović S. and Winkle K. and Behera L. and Ge S.S. and Chrysostomou D. and Jiang W. and He H.},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-105002042645&doi=10.1007%2f978-981-96-3522-1_41&partnerID=40&md5=70ccc7039785bb4ca4d45752f1d3587f},
doi = {10.1007/978-981-96-3522-1_41},
isbn = {03029743 (ISSN); 978-981963521-4 (ISBN)},
year = {2025},
date = {2025-01-01},
booktitle = {Lect. Notes Comput. Sci.},
volume = {15561 LNAI},
pages = {488–497},
publisher = {Springer Science and Business Media Deutschland GmbH},
abstract = {This work presents the development of a virtual agent designed specifically for use in the Metaverse, video games, and other virtual environments, capable of performing intention reading on a human-controlled avatar through a cognitive architecture that endows it with contextual awareness. The paper explores the adaptation of a cognitive architecture, originally developed for physical robots, to a fully virtual context, where it is integrated with a Large Language Model to create highly communicative virtual assistants. Although this work primarily focuses on virtual applications, integrating cognitive architectures with LLMs marks a significant step toward creating collaborative artificial agents capable of providing meaningful support by deeply understanding context and user intentions in digital environments. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.},
keywords = {Chatbots, Cognitive Architecture, Cognitive Architectures, Computer simulation languages, Intelligent virtual agents, Intention Reading, Intention readings, Language Model, Large language model, Metaverse, Metaverses, Physical robots, Video-games, Virtual agent, Virtual assistants, Virtual contexts, Virtual environments, Virtual machine},
pubstate = {published},
tppubtype = {inproceedings}
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This work presents the development of a virtual agent designed specifically for use in the Metaverse, video games, and other virtual environments, capable of performing intention reading on a human-controlled avatar through a cognitive architecture that endows it with contextual awareness. The paper explores the adaptation of a cognitive architecture, originally developed for physical robots, to a fully virtual context, where it is integrated with a Large Language Model to create highly communicative virtual assistants. Although this work primarily focuses on virtual applications, integrating cognitive architectures with LLMs marks a significant step toward creating collaborative artificial agents capable of providing meaningful support by deeply understanding context and user intentions in digital environments. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.
2024
Harinee, S.; Raja, R. Vimal; Mugila, E.; Govindharaj, I.; Sanjaykumar, V.; Ragavendhiran, T.
Elevating Medical Training: A Synergistic Fusion of AI and VR for Immersive Anatomy Learning and Practical Procedure Mastery Proceedings Article
In: Int. Conf. Syst., Comput., Autom. Netw., ICSCAN, Institute of Electrical and Electronics Engineers Inc., 2024, ISBN: 979-833151002-2 (ISBN).
Abstract | Links | BibTeX | Tags: 'current, Anatomy education, Anatomy educations, Computer interaction, Curricula, Embodied virtual assistant, Embodied virtual assistants, Generative AI, Human- Computer Interaction, Immersive, Intelligent virtual agents, Medical computing, Medical education, Medical procedure practice, Medical procedures, Medical training, Personnel training, Students, Teaching, Three dimensional computer graphics, Usability engineering, Virtual assistants, Virtual environments, Virtual Reality, Visualization
@inproceedings{harinee_elevating_2024,
title = {Elevating Medical Training: A Synergistic Fusion of AI and VR for Immersive Anatomy Learning and Practical Procedure Mastery},
author = {S. Harinee and R. Vimal Raja and E. Mugila and I. Govindharaj and V. Sanjaykumar and T. Ragavendhiran},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-105000334626&doi=10.1109%2fICSCAN62807.2024.10894451&partnerID=40&md5=100899b489c00335e0a652f2efd33e23},
doi = {10.1109/ICSCAN62807.2024.10894451},
isbn = {979-833151002-2 (ISBN)},
year = {2024},
date = {2024-01-01},
booktitle = {Int. Conf. Syst., Comput., Autom. Netw., ICSCAN},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
abstract = {Virtual reality with its 3D visualization have brought an overwhelming change in the face of medical education, especially for courses like human anatomy. The proposed virtual reality system to bring massive improvements in the education received by a medical student studying for their degree courses. The project puts forward the text-to-speech and speech-to-text aligned system that simplifies the usage of a chatbot empowered by OpenAI GPT-4 and allows pupils to vocally speak with Avatar, the set virtual assistant. Contrary to the current methodologies, the setup of virtual reality is powered by avatars and thus covers an enhanced virtual assistant environment. Avatars offer students the set of repeated practicing of medical procedures on it, and the real uniqueness in the proposed product. The developed virtual reality environment is enhanced over other current training techniques where a student should interact and immerse in three-dimensional human organs for visualization in three dimensions and hence get better knowledge of the subjects in greater depth. A virtual assistant guides the whole process, giving insights and support to help the student bridge the gap from theory to practice. Then, the system is essentially Knowledge based and Analysis based approach. The combination of generative AI along with embodied virtual agents has great potential when it comes to customized virtual conversation assistant for much wider range of applications. The study brings out the value of acquiring hands-on skills through simulated medical procedures and opens new frontiers of research and development in AI, VR, and medical education. In addition to assessing the effectiveness of such novel functionalities, the study also explores user experience related dimensions such as usability, task loading, and the sense of presence in proposed virtual medical environment. © 2024 IEEE.},
keywords = {'current, Anatomy education, Anatomy educations, Computer interaction, Curricula, Embodied virtual assistant, Embodied virtual assistants, Generative AI, Human- Computer Interaction, Immersive, Intelligent virtual agents, Medical computing, Medical education, Medical procedure practice, Medical procedures, Medical training, Personnel training, Students, Teaching, Three dimensional computer graphics, Usability engineering, Virtual assistants, Virtual environments, Virtual Reality, Visualization},
pubstate = {published},
tppubtype = {inproceedings}
}
Virtual reality with its 3D visualization have brought an overwhelming change in the face of medical education, especially for courses like human anatomy. The proposed virtual reality system to bring massive improvements in the education received by a medical student studying for their degree courses. The project puts forward the text-to-speech and speech-to-text aligned system that simplifies the usage of a chatbot empowered by OpenAI GPT-4 and allows pupils to vocally speak with Avatar, the set virtual assistant. Contrary to the current methodologies, the setup of virtual reality is powered by avatars and thus covers an enhanced virtual assistant environment. Avatars offer students the set of repeated practicing of medical procedures on it, and the real uniqueness in the proposed product. The developed virtual reality environment is enhanced over other current training techniques where a student should interact and immerse in three-dimensional human organs for visualization in three dimensions and hence get better knowledge of the subjects in greater depth. A virtual assistant guides the whole process, giving insights and support to help the student bridge the gap from theory to practice. Then, the system is essentially Knowledge based and Analysis based approach. The combination of generative AI along with embodied virtual agents has great potential when it comes to customized virtual conversation assistant for much wider range of applications. The study brings out the value of acquiring hands-on skills through simulated medical procedures and opens new frontiers of research and development in AI, VR, and medical education. In addition to assessing the effectiveness of such novel functionalities, the study also explores user experience related dimensions such as usability, task loading, and the sense of presence in proposed virtual medical environment. © 2024 IEEE.
Chheang, V.; Sharmin, S.; Marquez-Hernandez, R.; Patel, M.; Rajasekaran, D.; Caulfield, G.; Kiafar, B.; Li, J.; Kullu, P.; Barmaki, R. L.
Towards Anatomy Education with Generative AI-based Virtual Assistants in Immersive Virtual Reality Environments Proceedings Article
In: Proc. - IEEE Int. Conf. Artif. Intell. Ext. Virtual Real., AIxVR, pp. 21–30, Institute of Electrical and Electronics Engineers Inc., 2024, ISBN: 979-835037202-1 (ISBN).
Abstract | Links | BibTeX | Tags: 3-D visualization systems, Anatomy education, Anatomy educations, Cognitive complexity, E-Learning, Embodied virtual assistant, Embodied virtual assistants, Generative AI, generative artificial intelligence, Human computer interaction, human-computer interaction, Immersive virtual reality, Interactive 3d visualizations, Knowledge Management, Medical education, Three dimensional computer graphics, Verbal communications, Virtual assistants, Virtual Reality, Virtual-reality environment
@inproceedings{chheang_towards_2024,
title = {Towards Anatomy Education with Generative AI-based Virtual Assistants in Immersive Virtual Reality Environments},
author = {V. Chheang and S. Sharmin and R. Marquez-Hernandez and M. Patel and D. Rajasekaran and G. Caulfield and B. Kiafar and J. Li and P. Kullu and R. L. Barmaki},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85187216893&doi=10.1109%2fAIxVR59861.2024.00011&partnerID=40&md5=33e8744309add5fe400f4f341326505f},
doi = {10.1109/AIxVR59861.2024.00011},
isbn = {979-835037202-1 (ISBN)},
year = {2024},
date = {2024-01-01},
booktitle = {Proc. - IEEE Int. Conf. Artif. Intell. Ext. Virtual Real., AIxVR},
pages = {21–30},
publisher = {Institute of Electrical and Electronics Engineers Inc.},
abstract = {Virtual reality (VR) and interactive 3D visualization systems have enhanced educational experiences and environments, particularly in complicated subjects such as anatomy education. VR-based systems surpass the potential limitations of traditional training approaches in facilitating interactive engagement among students. However, research on embodied virtual assistants that leverage generative artificial intelligence (AI) and verbal communication in the anatomy education context is underrepresented. In this work, we introduce a VR environment with a generative AI-embodied virtual assistant to support participants in responding to varying cognitive complexity anatomy questions and enable verbal communication. We assessed the technical efficacy and usability of the proposed environment in a pilot user study with 16 participants. We conducted a within-subject design for virtual assistant configuration (avatar- and screen-based), with two levels of cognitive complexity (knowledge- and analysis-based). The results reveal a significant difference in the scores obtained from knowledge- and analysis-based questions in relation to avatar configuration. Moreover, results provide insights into usability, cognitive task load, and the sense of presence in the proposed virtual assistant configurations. Our environment and results of the pilot study offer potential benefits and future research directions beyond medical education, using generative AI and embodied virtual agents as customized virtual conversational assistants. © 2024 IEEE.},
keywords = {3-D visualization systems, Anatomy education, Anatomy educations, Cognitive complexity, E-Learning, Embodied virtual assistant, Embodied virtual assistants, Generative AI, generative artificial intelligence, Human computer interaction, human-computer interaction, Immersive virtual reality, Interactive 3d visualizations, Knowledge Management, Medical education, Three dimensional computer graphics, Verbal communications, Virtual assistants, Virtual Reality, Virtual-reality environment},
pubstate = {published},
tppubtype = {inproceedings}
}
Virtual reality (VR) and interactive 3D visualization systems have enhanced educational experiences and environments, particularly in complicated subjects such as anatomy education. VR-based systems surpass the potential limitations of traditional training approaches in facilitating interactive engagement among students. However, research on embodied virtual assistants that leverage generative artificial intelligence (AI) and verbal communication in the anatomy education context is underrepresented. In this work, we introduce a VR environment with a generative AI-embodied virtual assistant to support participants in responding to varying cognitive complexity anatomy questions and enable verbal communication. We assessed the technical efficacy and usability of the proposed environment in a pilot user study with 16 participants. We conducted a within-subject design for virtual assistant configuration (avatar- and screen-based), with two levels of cognitive complexity (knowledge- and analysis-based). The results reveal a significant difference in the scores obtained from knowledge- and analysis-based questions in relation to avatar configuration. Moreover, results provide insights into usability, cognitive task load, and the sense of presence in the proposed virtual assistant configurations. Our environment and results of the pilot study offer potential benefits and future research directions beyond medical education, using generative AI and embodied virtual agents as customized virtual conversational assistants. © 2024 IEEE.
Krauss, C.; Bassbouss, L.; Upravitelev, M.; An, T. -S.; Altun, D.; Reray, L.; Balitzki, E.; Tamimi, T. El; Karagülle, M.
Opportunities and Challenges in Developing Educational AI-Assistants for the Metaverse Proceedings Article
In: R.A., Sottilare; J., Schwarz (Ed.): Lect. Notes Comput. Sci., pp. 219–238, Springer Science and Business Media Deutschland GmbH, 2024, ISBN: 03029743 (ISSN); 978-303160608-3 (ISBN).
Abstract | Links | BibTeX | Tags: 3D modeling, AI-assistant, AI-Assistants, Computational Linguistics, Computer aided instruction, Concept-based, E-Learning, Education, Interoperability, Language Model, Large language model, large language models, Learning Environments, Learning systems, Learning Technologies, Learning technology, LLM, Metaverse, Metaverses, Natural language processing systems, Proof of concept, User interfaces, Virtual assistants, Virtual Reality
@inproceedings{krauss_opportunities_2024,
title = {Opportunities and Challenges in Developing Educational AI-Assistants for the Metaverse},
author = {C. Krauss and L. Bassbouss and M. Upravitelev and T. -S. An and D. Altun and L. Reray and E. Balitzki and T. El Tamimi and M. Karagülle},
editor = {Sottilare R.A. and Schwarz J.},
url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85196214138&doi=10.1007%2f978-3-031-60609-0_16&partnerID=40&md5=9a66876cb30e9e5d287a86e6cfa66e05},
doi = {10.1007/978-3-031-60609-0_16},
isbn = {03029743 (ISSN); 978-303160608-3 (ISBN)},
year = {2024},
date = {2024-01-01},
booktitle = {Lect. Notes Comput. Sci.},
volume = {14727 LNCS},
pages = {219–238},
publisher = {Springer Science and Business Media Deutschland GmbH},
abstract = {The paper explores the opportunities and challenges for metaverse learning environments with AI-Assistants based on Large Language Models. A proof of concept based on popular but proprietary technologies is presented that enables a natural language exchange between the user and an AI-based medical expert in a highly immersive environment based on the Unreal Engine. The answers generated by ChatGPT are not only played back lip-synchronously, but also visualized in the VR environment using a 3D model of a skeleton. Usability and user experience play a particularly important role in the development of the highly immersive AI-Assistant. The proof of concept serves to illustrate the opportunities and challenges that lie in the merging of large language models, metaverse applications and educational ecosystems, which are self-contained research areas. Development strategies, tools and interoperability standards will be presented to facilitate future developments in this triangle of tension. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.},
keywords = {3D modeling, AI-assistant, AI-Assistants, Computational Linguistics, Computer aided instruction, Concept-based, E-Learning, Education, Interoperability, Language Model, Large language model, large language models, Learning Environments, Learning systems, Learning Technologies, Learning technology, LLM, Metaverse, Metaverses, Natural language processing systems, Proof of concept, User interfaces, Virtual assistants, Virtual Reality},
pubstate = {published},
tppubtype = {inproceedings}
}
The paper explores the opportunities and challenges for metaverse learning environments with AI-Assistants based on Large Language Models. A proof of concept based on popular but proprietary technologies is presented that enables a natural language exchange between the user and an AI-based medical expert in a highly immersive environment based on the Unreal Engine. The answers generated by ChatGPT are not only played back lip-synchronously, but also visualized in the VR environment using a 3D model of a skeleton. Usability and user experience play a particularly important role in the development of the highly immersive AI-Assistant. The proof of concept serves to illustrate the opportunities and challenges that lie in the merging of large language models, metaverse applications and educational ecosystems, which are self-contained research areas. Development strategies, tools and interoperability standards will be presented to facilitate future developments in this triangle of tension. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.