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

TL;DR

This paper introduces Arm Robot, an AR-enhanced system for intuitive robot arm control that addresses human-robot capability differences through real-time visualization and perspective changes, improving embodied teleoperation.

Contribution

The paper presents a novel AR-based teleoperation system that helps users manage human-robot discrepancies and enhances embodied interaction with robot arms.

Findings

Users effectively controlled the robot using Arm Robot's features.

AR visualization improved user perception of spatial and temporal discrepancies.

Users perceived the system as intuitive and embodied.

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.