The use of different feedback modalities and verbal collaboration in tele-robotic assistance

摘要

This paper explores the effects of different feedback modalities (gripper orientation via peripheral (side) vision and haptic feedback) and verbal collaboration with the service-user on the performance of tele-operators in completing a tele-robotic assisted task. The study also analyses how tele-operator performance varied in relation to their experience of gaming and robotic technology. Tele-operator performance was measured in terms of task completion time (in seconds), how accurately they were able to orient the gripper, complexity of the robot arm trajectory taken for the task and perceived ease of use of tele-operating a robot arm. The results show that while the task completion time increased with the introduction of all forms of feedback, the ability for the tele-operator to accurately orient the gripper (which affects the success of completing the task) also increased. The study also found that the participants gave higher scores for ease of use for the scenarios that included the combined set of feedback modalities, including verbal feedback from the service-user.