High-precision telerobot with human-centered variable perspective and scalable gestural interface. Kruusamäe, K. & Pryor, M. In 2016 9th International Conference on Human System Interactions (HSI), pages 190–196, Portsmouth, UK, July, 2016. IEEE.
doi  abstract   bibtex   
Telerobotics (i.e., remote-controlling robots) is highly attractive for tasks in potentially dangerous situations, e.g., search and rescue, space exploration, and handling hazardous materials. However, when telerobots are deployed to complete tasks, the human operator needs to develop task plan and figure out how to execute it using the available control interface. Inappropriate controls can lead to excessive cognitive load and long task completion times. If the human operator can interact with the robot in an intuitive way, he or she can focus more on the task. For that reason, we have designed a human-centered control interface that allows the operator to modify the user perspective, command via hand gestures and natural language, and scale human input motion to any suitable range on the robot. The interface consists of a Leap Motion Controller for hand tracking, microphone for speech detection, and a simple turn knob for varying the scaling factor between the human and robot motions. The teleoperator software utilizes the Robot Operating System (ROS) which enables open-source development and hardware agnosticism. In this paper we demonstrate the feasibility of the proposed system by executing a high-precision task of threading a needle. Furthermore, we present results from a usability study in where people were asked to complete high-precision tasks with both the developed human-centered gestural control input and a conventional functionality-centered drag-and-drop interface.
@inproceedings{kruusamae_high-precision_2016,
	address = {Portsmouth, UK},
	title = {High-precision telerobot with human-centered variable perspective and scalable gestural interface},
	copyright = {All rights reserved},
	doi = {10.1109/HSI.2016.7529630},
	abstract = {Telerobotics (i.e., remote-controlling robots) is highly attractive for tasks in potentially dangerous situations, e.g., search and rescue, space exploration, and handling hazardous materials. However, when telerobots are deployed to complete tasks, the human operator needs to develop task plan and figure out how to execute it using the available control interface. Inappropriate controls can lead to excessive cognitive load and long task completion times. If the human operator can interact with the robot in an intuitive way, he or she can focus more on the task. For that reason, we have designed a human-centered control interface that allows the operator to modify the user perspective, command via hand gestures and natural language, and scale human input motion to any suitable range on the robot. The interface consists of a Leap Motion Controller for hand tracking, microphone for speech detection, and a simple turn knob for varying the scaling factor between the human and robot motions. The teleoperator software utilizes the Robot Operating System (ROS) which enables open-source development and hardware agnosticism. In this paper we demonstrate the feasibility of the proposed system by executing a high-precision task of threading a needle. Furthermore, we present results from a usability study in where people were asked to complete high-precision tasks with both the developed human-centered gestural control input and a conventional functionality-centered drag-and-drop interface.},
	booktitle = {2016 9th {International} {Conference} on {Human} {System} {Interactions} ({HSI})},
	publisher = {IEEE},
	author = {Kruusamäe, Karl and Pryor, Mitch},
	month = jul,
	year = {2016},
	keywords = {ROS, Robot kinematics, Robot sensing systems, Service robots, Speech, Teleoperators, Visualization, drag-and-drop interface, gesture recognition, hand gestures, hand tracking, handling hazardous materials, hardware agnosticism, high-precision, high-precision telerobotics, human-centered control interface, human-centered variable perspective, human-robot interaction, human-robot interface, industrial robot, leap motion controller, motion control, natural language, natural languages, open-source development, operating systems (computers), public domain software, robot operating system, robot programming, scalable, scalable gestural interface, search and rescue, space exploration, spatial mapping, speech detection, speech processing, supervisory control, teleoperator, teleoperator software, telerobotics},
	pages = {190--196},
}

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