Comparison of three different techniques for camera and motion control of a teleoperated robot

Guillaume Doisy, Adi Ronen, Yael Edan

Research output: Contribution to journalArticlepeer-review

14 Scopus citations

Abstract

This research aims to evaluate new methods for robot motion control and camera orientation control through the operator's head orientation in robot teleoperation tasks. Specifically, the use of head-tracking in a non-invasive way, without immersive virtual reality devices was combined and compared with classical control modes for robot movements and camera control. Three control conditions were tested: 1) a condition with classical joystick control of both the movements of the robot and the robot camera, 2) a condition where the robot movements were controlled by a joystick and the robot camera was controlled by the user head orientation, and 3) a condition where the movements of the robot were controlled by hand gestures and the robot camera was controlled by the user head orientation. Performance, workload metrics and their evolution as the participants gained experience with the system were evaluated in a series of experiments: for each participant, the metrics were recorded during four successive similar trials. Results shows that the concept of robot camera control by user head orientation has the potential of improving the intuitiveness of robot teleoperation interfaces, specifically for novice users. However, more development is needed to reach a margin of progression comparable to a classical joystick interface.

Original languageEnglish
Pages (from-to)527-534
Number of pages8
JournalApplied Ergonomics
Volume58
DOIs
StatePublished - 1 Jan 2017

Keywords

  • Human factors
  • Interface design
  • Teleoperation

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