A user study on human-robot-interactive recovery for industrial assembly problems

Abstract

This paper focuses on Human-Robot Interaction (HRI) in a scenario where a robot has to recover from an assembly problem. For this purpose, a human interacts with the robot so that the task-specific knowledge and experience of the human can be used for recovery. The question which interaction method is the most successful for this problem will be answered by a user study with 31 participants. Four different interaction methods are compared: space mouse, keyboard, kinesthetic guidance and a kinesthetic guidance with adaptive stiffness. The results clearly show that the kinesthetic guidance methods have superior performance and user satisfaction compared to the other considered methods.