Experimental assessment of human-robot teaming for multi-step remote manipulation with expert operators
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level cognition and dexterity (e.g. robotic surgery and manufacturing...
| Main Authors: | , , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
ACM
2023
|
| Online Access: | https://hdl.handle.net/1721.1/152999 |
| _version_ | 1811094616064131072 |
|---|---|
| author | P?rez-D'Arpino, Claudia Khurshid, Rebecca Shah, Julie |
| author2 | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science |
| author_facet | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science P?rez-D'Arpino, Claudia Khurshid, Rebecca Shah, Julie |
| author_sort | P?rez-D'Arpino, Claudia |
| collection | MIT |
| description | Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level cognition and dexterity (e.g. robotic surgery and manufacturing). These systems typically use direct teleoperation at the motion level, and are usually limited to low-DOF arms and 2D perception. Improving dexterity and situational awareness demands new interaction and planning workflows. We explore the use of human-robot teaming through teleautonomy with assisted planning for remote control of a dual-arm dexterous robot for multi-step manipulation, and conduct a within-subjects experimental assessment (n=12 expert users) to compare it with direct teleoperation with an imitation controller with 2D and 3D perception, as well as teleoperation through a teleautonomy interface. The proposed assisted planning approach achieves task times comparable with direct teleoperation while improving other objective and subjective metrics, including re-grasps, collisions, and TLX workload. Assisted planning in the teleautonomy interface achieves faster task execution, and removes a significant interaction with the operator's expertise level, resulting in a performance equalizer across users. Our study protocol, metrics and models for statistical analysis might also serve as a general benchmarking framework in teleoperation domains. |
| first_indexed | 2024-09-23T16:02:57Z |
| format | Article |
| id | mit-1721.1/152999 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T16:02:57Z |
| publishDate | 2023 |
| publisher | ACM |
| record_format | dspace |
| spelling | mit-1721.1/1529992024-01-24T20:01:17Z Experimental assessment of human-robot teaming for multi-step remote manipulation with expert operators P?rez-D'Arpino, Claudia Khurshid, Rebecca Shah, Julie Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level cognition and dexterity (e.g. robotic surgery and manufacturing). These systems typically use direct teleoperation at the motion level, and are usually limited to low-DOF arms and 2D perception. Improving dexterity and situational awareness demands new interaction and planning workflows. We explore the use of human-robot teaming through teleautonomy with assisted planning for remote control of a dual-arm dexterous robot for multi-step manipulation, and conduct a within-subjects experimental assessment (n=12 expert users) to compare it with direct teleoperation with an imitation controller with 2D and 3D perception, as well as teleoperation through a teleautonomy interface. The proposed assisted planning approach achieves task times comparable with direct teleoperation while improving other objective and subjective metrics, including re-grasps, collisions, and TLX workload. Assisted planning in the teleautonomy interface achieves faster task execution, and removes a significant interaction with the operator's expertise level, resulting in a performance equalizer across users. Our study protocol, metrics and models for statistical analysis might also serve as a general benchmarking framework in teleoperation domains. 2023-11-17T16:46:24Z 2023-11-17T16:46:24Z 2023-11-01T07:56:48Z Article http://purl.org/eprint/type/JournalArticle 2573-9522 https://hdl.handle.net/1721.1/152999 P?rez-D'Arpino, Claudia, Khurshid, Rebecca and Shah, Julie. "Experimental assessment of human-robot teaming for multi-step remote manipulation with expert operators." ACM Transactions on Human-Robot Interaction. PUBLISHER_POLICY en https://doi.org/10.1145/3618258 ACM Transactions on Human-Robot Interaction Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. The author(s) application/pdf ACM Association for Computing Machinery |
| spellingShingle | P?rez-D'Arpino, Claudia Khurshid, Rebecca Shah, Julie Experimental assessment of human-robot teaming for multi-step remote manipulation with expert operators |
| title | Experimental assessment of human-robot teaming for multi-step remote manipulation with expert operators |
| title_full | Experimental assessment of human-robot teaming for multi-step remote manipulation with expert operators |
| title_fullStr | Experimental assessment of human-robot teaming for multi-step remote manipulation with expert operators |
| title_full_unstemmed | Experimental assessment of human-robot teaming for multi-step remote manipulation with expert operators |
| title_short | Experimental assessment of human-robot teaming for multi-step remote manipulation with expert operators |
| title_sort | experimental assessment of human robot teaming for multi step remote manipulation with expert operators |
| url | https://hdl.handle.net/1721.1/152999 |
| work_keys_str_mv | AT prezdarpinoclaudia experimentalassessmentofhumanrobotteamingformultistepremotemanipulationwithexpertoperators AT khurshidrebecca experimentalassessmentofhumanrobotteamingformultistepremotemanipulationwithexpertoperators AT shahjulie experimentalassessmentofhumanrobotteamingformultistepremotemanipulationwithexpertoperators |