Kinesthetic Teaching in Robotics: a Mixed Reality Approach

TL;DR

This paper introduces a mixed reality interface for kinesthetic teaching in robotics, enabling intuitive communication and control of robots through holographic interactions, enhancing collaboration in manufacturing and human-robot teams.

Contribution

It presents a novel mixed reality-based kinesthetic teaching method applicable to various robotic platforms, improving interaction and collaboration.

Findings

Holographic KT improves user experience over traditional methods

The approach is effective across multiple robot types

User study shows increased intuitiveness and efficiency

Abstract

As collaborative robots become more common in manufacturing scenarios and adopted in hybrid human-robot teams, we should develop new interaction and communication strategies to ensure smooth collaboration between agents. In this paper, we propose a novel communicative interface that uses Mixed Reality as a medium to perform Kinesthetic Teaching (KT) on any robotic platform. We evaluate our proposed approach in a user study involving multiple subjects and two different robots, comparing traditional physical KT with holographic-based KT through user experience questionnaires and task-related metrics.