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Arm Robot: AR-Enhanced Embodied Control and Visualization for Intuitive Robot Arm Manipulation

Siyou Pei, Alexander Chen, Ronak Kaoshik, Ruofei Du, Yang Zhang

TL;DR

Arm Robot is an embodied robot arm teleoperation system that helps users tackle human-robot discrepancies and includes AR visualization as real-time feedback on temporal and spatial discrepancies, and allows users to change observing perspectives and expand action space.

Abstract

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.

Arm Robot: AR-Enhanced Embodied Control and Visualization for Intuitive Robot Arm Manipulation

TL;DR

Arm Robot is an embodied robot arm teleoperation system that helps users tackle human-robot discrepancies and includes AR visualization as real-time feedback on temporal and spatial discrepancies, and allows users to change observing perspectives and expand action space.

Abstract

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.

Paper Structure

This paper contains 34 sections, 6 figures, 2 tables.

Table of Contents

  1. Arm Robot
  2. Level of Embodiment in Teleoperation
  3. Visualization for Clear Feedback
  4. Temporal Discrepancy
  5. Spatial Discrepancy
  6. Interaction Techniques to Change Perspectives and Expand Action Space
  7. "Freeze/Unfreeze"
  8. "Scale"
  9. "Mirror"
  10. Implementation and Setup
  11. Implementation
  12. Setup
  13. User Study
  14. Participants
  15. Two Variants of Arm Robot
  16. ...and 19 more sections

Figures (6)

  • Figure 3: The high-level system architecture of Arm Robot shows the data communication between the user, AR headset, Unity, and the physical robot.
  • Figure 4: In our study, the robot is mounted beside the table, and the marker locations (A-D) are the start and end positions in evaluation tasks. A user can stand anywhere around the table to complete tasks.
  • Figure 5: Performance evaluation with a cube in (a) translation, and (b) rotation.
  • Figure 6: Exploration with daily objects. Tasks include (a) cup stacking (b) whisking (c) pouring (d-e) drawing/erasing
  • Figure 7: Completion time (s) and success rate (%) of evaluation tasks using freehand Arm Robot and controller-based Arm Robot.
  • ...and 1 more figures