Arm Robot: AR-Enhanced Embodied Control and Visualization for Intuitive Robot Arm Manipulation
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866915029111013376 |
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| author | Pei, Siyou Chen, Alexander Kaoshik, Ronak Du, Ruofei Zhang, Yang |
| author_facet | Pei, Siyou Chen, Alexander Kaoshik, Ronak Du, Ruofei Zhang, Yang |
| contents | Embodied interaction has been introduced to human-robot interaction (HRI) as a type of teleoperation, in which users control robot arms with bodily action via handheld controllers or haptic gloves. Embodied teleoperation has made robot control intuitive to non-technical users, but differences between humans' and robots' capabilities \eg ranges of motion and response time, remain challenging. In response, we present Arm Robot, an embodied robot arm teleoperation system that helps users tackle human-robot discrepancies. Specifically, Arm Robot (1) includes AR visualization as real-time feedback on temporal and spatial discrepancies, and (2) allows users to change observing perspectives and expand action space. We conducted a user study (N=18) to investigate the usability of the Arm Robot and learn how users perceive the embodiment. Our results show users could use Arm Robot's features to effectively control the robot arm, providing insights for continued work in embodied HRI. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2411_13851 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Arm Robot: AR-Enhanced Embodied Control and Visualization for Intuitive Robot Arm Manipulation Pei, Siyou Chen, Alexander Kaoshik, Ronak Du, Ruofei Zhang, Yang Robotics Human-Computer Interaction Embodied interaction has been introduced to human-robot interaction (HRI) as a type of teleoperation, in which users control robot arms with bodily action via handheld controllers or haptic gloves. Embodied teleoperation has made robot control intuitive to non-technical users, but differences between humans' and robots' capabilities \eg ranges of motion and response time, remain challenging. In response, we present Arm Robot, an embodied robot arm teleoperation system that helps users tackle human-robot discrepancies. Specifically, Arm Robot (1) includes AR visualization as real-time feedback on temporal and spatial discrepancies, and (2) allows users to change observing perspectives and expand action space. We conducted a user study (N=18) to investigate the usability of the Arm Robot and learn how users perceive the embodiment. Our results show users could use Arm Robot's features to effectively control the robot arm, providing insights for continued work in embodied HRI. |
| title | Arm Robot: AR-Enhanced Embodied Control and Visualization for Intuitive Robot Arm Manipulation |
| topic | Robotics Human-Computer Interaction |
| url | https://arxiv.org/abs/2411.13851 |