Analysis of the Intuitive Teleoperated System of the TxRob Multimodal Robot

Abstract

Natural disasters such as earthquakes, avalanches, landslides, among others, leave in their path people who may be trapped in the rubble, which are hardly found by rescue agents, so a reliable system in the operation of an exploration and rescue robot is essential. This paper aims to evaluate the systems proposed for the operation of the TxRob exploration robot. The teleoperated control systems that were developed for the manipulation of the robot are: a multimodal system feedback with information through different sensors, and a GUI control system using joystick buttons. These systems were analyzed using subjective metrics such as NASA-TLX, Scale Utility System (SUS) and Microsoft Reaction Cards, which provide interesting data when evaluating the performance of an interface, as well as the workload, user satisfaction and usability; these aspects are used to conclude which system is the most intuitive when performing rescue operations in case of a disaster, among others. 15 operators were evaluated to validate this system; the age range of the operators was between 20 and 43 years old and 20% of them had previously used VR headsets. Priority is given to the most immersive, easy to use and the most efficient system to perform the task of handling the robot.