Assisting manipulation and grasping in robotic teleoperation with visual augmented reality cues
Stephanie Arevalo Arboleda, Franziska Rücker, Tim Dierks, Jens Gerken

CHI '21: The 2021 ACM CHI Conference on Human Factors in Computing Systems
Session: Augmented Reality / Interaction with text and notes

Abstract
Teleoperating industrial manipulators in co-located spaces can be challenging. Facilitating robot teleoperation by providing additional visual information about the environment and robot capabilities using augmented reality (AR) can improve task performance in manipulation and grasping. In this paper, we present two designs of enhanced visual cues, which aim to expand the visual space of the robot operator by providing hints about the position of the robot gripper in the workspace and in relation to the target. These visual cues are intended to improve distance perception and thus task performance. We evaluate both designs against a baseline in an experiment in which participants telecontrol a robotic arm to perform pick-and-place tasks. Our results show performance improvements at different levels, reflected in objective and subjective measures with tradeoffs in terms of time, accuracy and participants' views on teleoperation. These findings demonstrate the potential of AR not only in teleoperations, but also in understanding the human-robot workspace.

DOI: https://doi.org/10.1145/3411764.3445398
WEB:: https://chi2021.acm.org/

Pre-recorded presentations for the ACM CHI Virtual Conference on Human Factors in Computing Systems, May 8-13, 2021

Please take the opportunity to connect and share this video with your friends and family if you find it helpful.