Wan, Y, Sun, J, Peers, C et al. (3 more authors) (2023) Performance and Usability Evaluation Scheme for Mobile Manipulator Teleoperation. IEEE Transactions on Human-Machine Systems. ISSN 2168-2291
Abstract
This article presents a standardized human–robot teleoperation interface (HRTI) evaluation scheme for mobile manipulators. Teleoperation remains the predominant control type for mobile manipulators in open environments, particularly for quadruped manipulators. However, mobile manipulators, especially quadruped manipulators, are relatively novel systems to be implemented in the industry compared to traditional machinery. Consequently, no standardized interface evaluation method has been established for them. The proposed scheme is the first of its kind in evaluating mobile manipulator teleoperation. It comprises a set of robot motion tests, objective measures, subjective measures, and a prediction model to provide a comprehensive evaluation. The motion tests encompass locomotion, manipulation, and a combined test. The duration for each trial is collected as the response variable in the objective measure. Statistical tools, including mean value, standard deviation, and T-test, are utilized to cross-compare between different predictor variables. Based on an extended Fitts' law, the prediction model employs the time and mission difficulty index to forecast system performance in future missions. The subjective measures utilize the NASA-task load index and the system usability scale to assess workload and usability. Finally, the proposed scheme is implemented on a real-world quadruped manipulator with two widely-used HRTIs, the gamepad and the wearable motion capture system.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | This is an author produced version of an article accepted for publication in IEEE Transactions on Human-Machine Systems, made available under the terms of the Creative Commons Attribution License (CC-BY), which permits unrestricted use, distribution and reproduction in any medium, provided the original work is properly cited. |
Keywords: | Fitts' law; human–robot interaction; man–machine systems; mobile manipulator; teleoperation |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Funding Information: | Funder Grant number Innovate UK fka Technology Strategy Board (TSB) TS/X016706/1 EPSRC (Engineering and Physical Sciences Research Council) EP/V026801/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 30 Jun 2023 10:14 |
Last Modified: | 26 Jul 2023 15:02 |
Status: | Published online |
Publisher: | IEEE |
Identification Number: | 10.1109/THMS.2023.3289628 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:200851 |