Investigating spatial guidance for a cooperative handheld robot

Austin Gregg-Smith, Walterio W Mayol-Cuevas

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

5 Citations (Scopus)
447 Downloads (Pure)


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 languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation (ICRA16)
Subtitle of host publicationProceedings of a meeting held in Stockholm, Sweden, 16-21 May 2016
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages8
ISBN (Electronic)9781467380263
ISBN (Print)9781509040605
Publication statusPublished - Aug 2016
Event2016 IEEE International Conference on Robotics and Automation (ICRA) - Stockholm, Sweden
Duration: 16 May 201621 May 2016


Conference2016 IEEE International Conference on Robotics and Automation (ICRA)


  • Handheld Robotics
  • Cooperative Robotics
  • Spatial Guidance
  • Augmented Reality
  • Virtual reality


Dive into the research topics of 'Investigating spatial guidance for a cooperative handheld robot'. Together they form a unique fingerprint.

Cite this