Investigating spatial guidance for a cooperative handheld robot

Austin Gregg-Smith; Walterio W Mayol-Cuevas

doi:10.1109/ICRA.2016.7487512

Investigating spatial guidance for a cooperative handheld robot

Austin Gregg-Smith, Walterio W Mayol-Cuevas

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

5 Citations (Scopus)

423 Downloads (Pure)

Abstract

In this paper we address the question of how to provide feedback information to guide users of a handheld robotic device when performing a spatial exploration task. We consider various feedback methods for communicating a five degree of freedom target pose to a user including a stereoscopic VR display, a monocular see-through AR display and a 2D screen as well as robot arm gesturing. The spatial exploration task with the handheld robot arm was compared against a baseline of a passive handheld wand. We compared the performance of each of the methods with 21 volunteers using a repeated measures ANOVA experimental design, and recorded users' opinions via a NASA Task Load Index Survey.
The robot assisted reaching feedback methods significantly outperform manual reaching with the wand for all three visual feedback methods. However, there is
little difference between each of the three visual feedback methods when using the robot. The completion time of the task varies with changing difficulty when
using the wand but remains stable when assisted by the robot. These results convey useful information for the design of cooperative handheld robots.

Original language	English
Title of host publication	2016 IEEE International Conference on Robotics and Automation (ICRA16)
Subtitle of host publication	Proceedings of a meeting held in Stockholm, Sweden, 16-21 May 2016
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	3367-3374
Number of pages	8
ISBN (Electronic)	9781467380263
ISBN (Print)	9781509040605
DOIs	https://doi.org/10.1109/ICRA.2016.7487512
Publication status	Published - Aug 2016
Event	2016 IEEE International Conference on Robotics and Automation (ICRA) - Stockholm, Sweden Duration: 16 May 2016 → 21 May 2016

Conference

Conference	2016 IEEE International Conference on Robotics and Automation (ICRA)
Country/Territory	Sweden
City	Stockholm
Period	16/05/16 → 21/05/16

Keywords

Handheld Robotics
Cooperative Robotics
Spatial Guidance
Augmented Reality
Virtual reality

Access to Document

10.1109/ICRA.2016.7487512

Full-text PDF (accepted author manuscript)
This is the author accepted manuscript (AAM). The final published version (version of record) is available online via IEEE at http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7487512. Please refer to any applicable terms of use of the publisher.
Accepted author manuscript, 3.73 MB

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Gregg-Smith, A., & Mayol-Cuevas, W. W. (2016). Investigating spatial guidance for a cooperative handheld robot. In 2016 IEEE International Conference on Robotics and Automation (ICRA16): Proceedings of a meeting held in Stockholm, Sweden, 16-21 May 2016 (pp. 3367-3374). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICRA.2016.7487512

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abstract = "In this paper we address the question of how to provide feedback information to guide users of a handheld robotic device when performing a spatial exploration task. We consider various feedback methods for communicating a five degree of freedom target pose to a user including a stereoscopic VR display, a monocular see-through AR display and a 2D screen as well as robot arm gesturing. The spatial exploration task with the handheld robot arm was compared against a baseline of a passive handheld wand. We compared the performance of each of the methods with 21 volunteers using a repeated measures ANOVA experimental design, and recorded users' opinions via a NASA Task Load Index Survey.The robot assisted reaching feedback methods significantly outperform manual reaching with the wand for all three visual feedback methods. However, there islittle difference between each of the three visual feedback methods when using the robot. The completion time of the task varies with changing difficulty whenusing the wand but remains stable when assisted by the robot. These results convey useful information for the design of cooperative handheld robots.",

keywords = "Handheld Robotics, Cooperative Robotics, Spatial Guidance, Augmented Reality, Virtual reality",

author = "Austin Gregg-Smith and Mayol-Cuevas, {Walterio W}",

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note = "2016 IEEE International Conference on Robotics and Automation (ICRA) ; Conference date: 16-05-2016 Through 21-05-2016",

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Gregg-Smith, A & Mayol-Cuevas, WW 2016, Investigating spatial guidance for a cooperative handheld robot. in 2016 IEEE International Conference on Robotics and Automation (ICRA16): Proceedings of a meeting held in Stockholm, Sweden, 16-21 May 2016. Institute of Electrical and Electronics Engineers (IEEE), pp. 3367-3374, 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 16/05/16. https://doi.org/10.1109/ICRA.2016.7487512

Investigating spatial guidance for a cooperative handheld robot. / Gregg-Smith, Austin; Mayol-Cuevas, Walterio W.
2016 IEEE International Conference on Robotics and Automation (ICRA16): Proceedings of a meeting held in Stockholm, Sweden, 16-21 May 2016. Institute of Electrical and Electronics Engineers (IEEE), 2016. p. 3367-3374.

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

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KW - Virtual reality

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Investigating spatial guidance for a cooperative handheld robot

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