How Should We Teach Robots? A Comparison of Kinesthetic, Joystick, and Gesture-Based Teaching
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2026
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| Acceso en línea: | |
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| _version_ | 1866918526658281472 |
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| author | Vanc, Petr Behrens, Jan Kristof Hlaváč, Václav Stepanova, Karla |
| author_facet | Vanc, Petr Behrens, Jan Kristof Hlaváč, Václav Stepanova, Karla |
| contents | Instructing robots from demonstrations can be done through different teaching modalities, each with different usability and performance trade-offs. This paper compares kinesthetic guidance, joystick teleoperation, and hand gestures in a user study with eight participants. We evaluate replay success, modified NASA-TLX workload, and common teaching errors across three manipulation tasks. Kinesthetic guidance produced the shortest demonstrations, lowest workload, and highest success on the more orientation-sensitive and contact-rich tasks. Joystick teleoperation performed best on simple peg picking. Hand-gesture teaching, although less reliable overall, performed better than expected and in some cases achieved results comparable to kinesthetic guidance. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_28033 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | How Should We Teach Robots? A Comparison of Kinesthetic, Joystick, and Gesture-Based Teaching Vanc, Petr Behrens, Jan Kristof Hlaváč, Václav Stepanova, Karla Robotics Instructing robots from demonstrations can be done through different teaching modalities, each with different usability and performance trade-offs. This paper compares kinesthetic guidance, joystick teleoperation, and hand gestures in a user study with eight participants. We evaluate replay success, modified NASA-TLX workload, and common teaching errors across three manipulation tasks. Kinesthetic guidance produced the shortest demonstrations, lowest workload, and highest success on the more orientation-sensitive and contact-rich tasks. Joystick teleoperation performed best on simple peg picking. Hand-gesture teaching, although less reliable overall, performed better than expected and in some cases achieved results comparable to kinesthetic guidance. |
| title | How Should We Teach Robots? A Comparison of Kinesthetic, Joystick, and Gesture-Based Teaching |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.28033 |