Wan, Y;
Sun, J;
Peers, C;
Humphreys, J;
Kanoulas, D;
Zhou, C;
(2023)
Performance and Usability Evaluation Scheme for Mobile Manipulator Teleoperation.
IEEE Transactions on Human-Machine Systems
pp. 1-11.
10.1109/THMS.2023.3289628.
(In press).
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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.
| Type: | Article |
|---|---|
| Title: | Performance and Usability Evaluation Scheme for Mobile Manipulator Teleoperation |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/THMS.2023.3289628 |
| Publisher version: | https://doi.org/10.1109/THMS.2023.3289628 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10174495 |
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