Augmented reality-based telepresence in a robotic manipulation task

Augmented reality-based telepresence in a robotic manipulation task: An experimental evaluation

de Boer, T.A.B. (TU Delft Human-Robot Interaction)
de Winter, J.C.F. (TU Delft Human-Robot Interaction)
Eisma, Y.B. (TU Delft Human-Robot Interaction)

2023

A spectrum of control methods in human–robot interaction was investigated, ranging from direct control to telepresence with a virtual representation of the robot arm. A total of 24 participants used a setup that included a Franka Emika Panda robot arm, Varjo XR-3 head-mounted display, and Leap Motion Controller. Participants performed a box-and-block task using the bare hand (A), and under five gesture-controlled robotic operation methods: direct sight (B), sight via video-feedthrough (C), in a 3D telepresence environment with (D) and without (E) virtual representation of the robot arm, and using a 2D video feed (F). The number of grabbing attempts did not differ significantly between conditions, but local operation (B & C) yielded more transferred blocks than teleoperation (D–F). Teleoperation using a 3D presentation was advantageous compared to teleoperation using a 2D video feed, as demonstrated by lower peak forces and smaller range in gripper heights in conditions D and E compared to condition F, a finding supported by analyses of the head movement activity. Finally, the bare hand yielded the best performance and subjective ratings. In summary, teleoperation using a 3D presentation provided a smoother interaction than teleoperation with a 2D video feed. However, direct human interaction remains a benchmark yet to surpass.

data analysis
human-robot interaction
robot dynamics
OA-Fund TU Delft

http://resolver.tudelft.nl/uuid:352712cc-beb6-4538-8ce0-4d5af8855076

https://doi.org/10.1049/cim2.12085

IET Collaborative Intelligent Manufacturing, 5 (4)

Institutional Repository

journal article

© 2023 T.A.B. de Boer, J.C.F. de Winter, Y.B. Eisma