@inproceedings{Chacon:2023:10.1109/ICRA48891.2023.10161278,
author = {Chacon, Quesada R and Demiris, Y},
doi = {10.1109/ICRA48891.2023.10161278},
pages = {11950--11956},
publisher = {IEEE},
title = {Design and evaluation of an augmented reality head-mounted display user interface for controlling legged manipulators},
url = {http://dx.doi.org/10.1109/ICRA48891.2023.10161278},
year = {2023}
}

Download

TY  - CPAPER
AB  - Designing an intuitive User Interface (UI) for controlling assistive robots remains challenging. Most existing UIs leverage traditional control interfaces such as joysticks, hand-held controllers, and 2D UIs. Thus, users have limited availability to use their hands for other tasks. Furthermore, although there is extensive research regarding legged manipulators, comparatively little is on their UIs. Towards extending the state-of-art in this domain, we provide a user study comparing an Augmented Reality (AR) Head-Mounted Display (HMD) UI we developed for controlling a legged manipulator against off-the-shelf control methods for such robots. We made this comparison baseline across multiple factors relevant to a successful interaction. The results from our user study ( N=17 ) show that although the AR UI increases immersion, off-the-shelf control methods outperformed the AR UI in terms of time performance and cognitive workload. Nonetheless, a follow-up pilot study incorporating the lessons learned shows that AR UIs can outpace hand-held-based control methods and reduce the cognitive requirements when designers include hands-free interactions and cognitive offloading principles into the UI.
AU  - Chacon,Quesada R
AU  - Demiris,Y
DO  - 10.1109/ICRA48891.2023.10161278
EP  - 11956
PB  - IEEE
PY  - 2023///
SN  - 1050-4729
SP  - 11950
TI  - Design and evaluation of an augmented reality head-mounted display user interface for controlling legged manipulators
UR  - http://dx.doi.org/10.1109/ICRA48891.2023.10161278
UR  - https://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:001048371104011&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=a2bf6146997ec60c407a63945d4e92bb
UR  - http://hdl.handle.net/10044/1/107120
ER  - 

Download