Communicating Robot Arm Motion Intent Through Mixed Reality Head-mounted Displays
By Eric Rosen, David Whitney, Elizabeth Phillips, Gary Chien, James Tompkin, George Dimitri Konidaris, Stefanie Tellex. 2017
132 citations recorded by the source corpus.
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues. However, robots often have difficulty efficiently communicating their motion intent to humans via these methods. Many existing methods for robot motion intent communication rely on 2D displays, which require the human to continually pause their work and check a visualization. We propose a mixed reality head-mounted display visualization of the proposed robot motion over the wearer's real-world view of the robot and its environment. To evaluate the effectiveness of this system against a 2D display visualization and against no visualization, we asked 32 participants to labeled different robot arm motions as either colliding or non-colliding with blocks on a table. We found a 16% increase in accuracy with a 62% decrease in the time it took to complete the task compared to the next best system. This demonstrates that a mixed-reality HMD allows a human to more quickly and accurately tell where the robot is going to move than the compared baselines.
Subfields: Mechanical Engineering, Social Psychology, Human-Computer Interaction
How researchers see this paper
The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.
In Mechanical Engineering
- Pieter Abbeel
- Ken Goldberg
- Tianhao Zhang
- Sergey Levine
- Jonathan Booher
- Yuke Zhu
- Ajay Mandlekar
- Corey Lynch
In Social Psychology
In Human-Computer Interaction
Citations in the corpus
- Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation (2017, background): “In a non-learning setting, VR teleoperation has been recently explored for a small humanoid robot called iCub [40], for simulated dexterous manipulation [41], and for communicating motion intent [42].”
- Explainable Agents and Robots: Results from a Systematic Literature Review (2019, unknown): “Intent communication [3] [98] [85] [13] [70] [25] [92] [93] [31] [78] [17] [52]”