A Virtual Reality Reach Stacker Simulator for Operator Training
Resumo
Introduction: Virtual reality can support training for heavy-equipment operation by reducing exposure to risk and enabling repeatable practice, but studies on reach stacker simulators still provide limited detail about task design and performance logging. Objective: This paper presents the design and exploratory evaluation of a virtual reality reach stacker simulator for operator training, with emphasis on reproducible task conditions, objective telemetry and post-use experience measures. Methodology: Thirteen adults completed a standardized container-stacking task using a head-mounted display and a physical control rig; the simulator logged task time, collisions and final positioning errors, and questionnaires assessed cybersickness, presence, usability, workload and perceived learning. Results: Ten complete logs showed completion times from 56.6 to 447.8 s, final translational errors from 0.052 to 0.391 m and yaw errors below 1.5 degrees. Questionnaire medians indicated low cybersickness, favorable usability (SUS = 85.0), moderate workload and high perceived learning, suggesting that the simulator provides a safe and measurable basis for future studies on port-operator training.
Palavras-chave:
virtual reality, serious games, simulator, reach stacker, simulation-based training, user experience, performance metrics, occupational safety
Referências
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Bassano, C., Chessa, M., Fengone, L., Isgrò, L., Solari, F., Spallarossa, G., Tozzi, D., and Zini, A. (2019). Evaluation of a virtual reality system for ship handling simulations. In Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019), Volume 2: HUCAPP, pages 62-73.
Bouchard, S., Robillard, G., St-Jacques, J., Dumoulin, S., Patry, M.-A., and Renaud, P. (2004). Reliability and validity of a single-item measure of presence in VR. In IEEE International Workshop on Haptic, Audio and Visual Environments and Their Applications (HAVE 2004), pages 59-61.
Brooke, J. (1996). SUS: A quick and dirty usability scale. In Jordan, P. W., Thomas, B., Weerdmeester, B. A., and McClelland, A. L., editors, Usability Evaluation in Industry, pages 189-194. Taylor & Francis, London.
Bruzzone, A. G. and Shinelschikov, K. (2024). Immersive XR simulation for enhanced terminal & port operations. In 15th International Workshop on Applied Modelling and Simulation (WAMS 2024), Shaoxing.
de Oliveira, R. P., Carim Junior, G., Pereira, B., Hunter, D., Drummond, J., and Andre, M. (2022). Systematic literature review on the fidelity of maritime simulator training. Education Sciences, 12(11):817.
Ernstsen, J. and Nazir, S. (2020). Performance assessment in full-scale simulators: A case of maritime pilotage operations. Safety Science, 129:104775.
Estork, N. A. de N. (2022). Uso de simulador virtual 3D de máquina tipo reach stacker para reconstrução de acidentes. Undergraduate final work, Instituto Federal de Santa Catarina, Itajaí, Brazil.
Gil, A. C. (2008). Métodos e Técnicas de Pesquisa Social. Atlas, São Paulo, Brazil, 6th edition.
Haller, A., Putz, L. M., and Schauer, O. (2015). Transhipment simulators for training of ports' personnel. Advanced Engineering Forum, 13:277-281.
Hart, S. G. and Staveland, L. E. (1988). Development of NASA-TLX (task load index): Results of empirical and theoretical research. In Hancock, P. A. and Meshkati, N., editors, Human Mental Workload, volume 52 of Advances in Psychology, pages 139-183. North-Holland, Amsterdam.
Hermes, F. S. F. (2022). Implementação de um sistema de fases e tarefas utilizando o simulador 3D de empilhadeira do tipo reach stacker para treinamento e reciclagem de operadores. Undergraduate final work, Instituto Federal de Santa Catarina, Itajaí, Brazil.
Islam, M. S., Jamshid Nezhad Zahabi, S., Kim, S., Lau, N., Nussbaum, M. A., and Lim, S. (2023). Forklift driving performance of novices with repeated VR-based training. In Proceedings of the Human Factors and Ergonomics Society Annual Meeting, volume 67, pages 1480-1481.
Kennedy, R. S., Lane, N. E., Berbaum, K. S., and Lilienthal, M. G. (1993). Simulator Sickness Questionnaire: An enhanced method for quantifying simulator sickness. The International Journal of Aviation Psychology, 3(3):203-220.
Kourtesis, P., Linnell, J., Amir, R., Argelaguet, F., and MacPherson, S. E. (2023). Cybersickness in virtual reality questionnaire (CSQ-VR): A validation and comparison against SSQ and VRSQ. Virtual Worlds, 2(1):44-84.
Martin, I. A. and Irani, R. A. (2024). The examination of operator performance when controlling a shipboard crane anti-sway control system within a virtual-reality simulator. Ocean Engineering, 298:117164.
Occupational Safety and Health Administration (2024). Powered industrial trucks (forklifts): OSHA standard 1910.178 and related interpretations. Accessed: 2026-0427.
Pětvaldský, T., Kočkár, S., Lepík, P., Hollá, K., and Kuricová, A. (2025). A comparative analysis of OSH training: Evaluating traditional methods versus interactive and virtual reality approaches in the context of sustainability. Sustainability, 17(12):5570.
Radhakrishnan, U., Koumaditis, K., and Chinello, F. (2021). A systematic review of immersive virtual reality for industrial skills training. Behaviour & Information Technology, 40(12):1310-1339.
Renganayagalu, S. K., Mallam, S. C., and Nazir, S. (2021). Effectiveness of VR head mounted displays in professional training: A systematic review. Technology, Knowledge and Learning, 26(4):999-1041.
Ribeiro Neto, A. (2014). Simulador visual de reach stacker utilizando recursos de realidade virtual. Master's dissertation, COPPE, Universidade Federal do Rio de Janeiro, Rio de Janeiro, Brazil.
Shringi, A., Arashpour, M., Golafshani, E. M., Rajabifard, A., Dwyer, T., and Li, H. (2022). Efficiency of VR-based safety training for construction equipment: Hazard recognition in heavy machinery operations. Buildings, 12(12):2084.
Stark, C., Wiener, S., and Chin, J. F. (2023). Comparing industry training using virtual reality against conventional training: A case study. In Technological Advancement in Instrumentation & Human Engineering, volume 882 of Lecture Notes in Electrical Engineering, pages 161-176. Springer, Singapore.
Stefan, H., Mortimer, M., and Horan, B. (2023). Evaluating the effectiveness of virtual reality for safety-relevant training: A systematic review. Virtual Reality, 27(4):28392869.
Bassano, C., Chessa, M., Fengone, L., Isgrò, L., Solari, F., Spallarossa, G., Tozzi, D., and Zini, A. (2019). Evaluation of a virtual reality system for ship handling simulations. In Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019), Volume 2: HUCAPP, pages 62-73.
Bouchard, S., Robillard, G., St-Jacques, J., Dumoulin, S., Patry, M.-A., and Renaud, P. (2004). Reliability and validity of a single-item measure of presence in VR. In IEEE International Workshop on Haptic, Audio and Visual Environments and Their Applications (HAVE 2004), pages 59-61.
Brooke, J. (1996). SUS: A quick and dirty usability scale. In Jordan, P. W., Thomas, B., Weerdmeester, B. A., and McClelland, A. L., editors, Usability Evaluation in Industry, pages 189-194. Taylor & Francis, London.
Bruzzone, A. G. and Shinelschikov, K. (2024). Immersive XR simulation for enhanced terminal & port operations. In 15th International Workshop on Applied Modelling and Simulation (WAMS 2024), Shaoxing.
de Oliveira, R. P., Carim Junior, G., Pereira, B., Hunter, D., Drummond, J., and Andre, M. (2022). Systematic literature review on the fidelity of maritime simulator training. Education Sciences, 12(11):817.
Ernstsen, J. and Nazir, S. (2020). Performance assessment in full-scale simulators: A case of maritime pilotage operations. Safety Science, 129:104775.
Estork, N. A. de N. (2022). Uso de simulador virtual 3D de máquina tipo reach stacker para reconstrução de acidentes. Undergraduate final work, Instituto Federal de Santa Catarina, Itajaí, Brazil.
Gil, A. C. (2008). Métodos e Técnicas de Pesquisa Social. Atlas, São Paulo, Brazil, 6th edition.
Haller, A., Putz, L. M., and Schauer, O. (2015). Transhipment simulators for training of ports' personnel. Advanced Engineering Forum, 13:277-281.
Hart, S. G. and Staveland, L. E. (1988). Development of NASA-TLX (task load index): Results of empirical and theoretical research. In Hancock, P. A. and Meshkati, N., editors, Human Mental Workload, volume 52 of Advances in Psychology, pages 139-183. North-Holland, Amsterdam.
Hermes, F. S. F. (2022). Implementação de um sistema de fases e tarefas utilizando o simulador 3D de empilhadeira do tipo reach stacker para treinamento e reciclagem de operadores. Undergraduate final work, Instituto Federal de Santa Catarina, Itajaí, Brazil.
Islam, M. S., Jamshid Nezhad Zahabi, S., Kim, S., Lau, N., Nussbaum, M. A., and Lim, S. (2023). Forklift driving performance of novices with repeated VR-based training. In Proceedings of the Human Factors and Ergonomics Society Annual Meeting, volume 67, pages 1480-1481.
Kennedy, R. S., Lane, N. E., Berbaum, K. S., and Lilienthal, M. G. (1993). Simulator Sickness Questionnaire: An enhanced method for quantifying simulator sickness. The International Journal of Aviation Psychology, 3(3):203-220.
Kourtesis, P., Linnell, J., Amir, R., Argelaguet, F., and MacPherson, S. E. (2023). Cybersickness in virtual reality questionnaire (CSQ-VR): A validation and comparison against SSQ and VRSQ. Virtual Worlds, 2(1):44-84.
Martin, I. A. and Irani, R. A. (2024). The examination of operator performance when controlling a shipboard crane anti-sway control system within a virtual-reality simulator. Ocean Engineering, 298:117164.
Occupational Safety and Health Administration (2024). Powered industrial trucks (forklifts): OSHA standard 1910.178 and related interpretations. Accessed: 2026-0427.
Pětvaldský, T., Kočkár, S., Lepík, P., Hollá, K., and Kuricová, A. (2025). A comparative analysis of OSH training: Evaluating traditional methods versus interactive and virtual reality approaches in the context of sustainability. Sustainability, 17(12):5570.
Radhakrishnan, U., Koumaditis, K., and Chinello, F. (2021). A systematic review of immersive virtual reality for industrial skills training. Behaviour & Information Technology, 40(12):1310-1339.
Renganayagalu, S. K., Mallam, S. C., and Nazir, S. (2021). Effectiveness of VR head mounted displays in professional training: A systematic review. Technology, Knowledge and Learning, 26(4):999-1041.
Ribeiro Neto, A. (2014). Simulador visual de reach stacker utilizando recursos de realidade virtual. Master's dissertation, COPPE, Universidade Federal do Rio de Janeiro, Rio de Janeiro, Brazil.
Shringi, A., Arashpour, M., Golafshani, E. M., Rajabifard, A., Dwyer, T., and Li, H. (2022). Efficiency of VR-based safety training for construction equipment: Hazard recognition in heavy machinery operations. Buildings, 12(12):2084.
Stark, C., Wiener, S., and Chin, J. F. (2023). Comparing industry training using virtual reality against conventional training: A case study. In Technological Advancement in Instrumentation & Human Engineering, volume 882 of Lecture Notes in Electrical Engineering, pages 161-176. Springer, Singapore.
Stefan, H., Mortimer, M., and Horan, B. (2023). Evaluating the effectiveness of virtual reality for safety-relevant training: A systematic review. Virtual Reality, 27(4):28392869.
Publicado
29/09/2026
Como Citar
PEDROSO, Eduardo Germer; ALONSO, Ewerton Eyre de Morais.
A Virtual Reality Reach Stacker Simulator for Operator Training. In: SIMPÓSIO BRASILEIRO DE JOGOS E ENTRETENIMENTO DIGITAL (SBGAMES), 25. , 2026, Goiânia/GO.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2026
.
p. 2513-2524.
DOI: https://doi.org/10.5753/sbgames.2026.26427.
