Effect of Gesture Interface Mapping on Controlling a Multi-degree-of-freedom Robotic Arm in a Complex Environment

Abstract

There are many robotic scenarios that require real-time function in large or unconstrained environments, for example, the robotic arm on the International Space Station (ISS). Use of fully-wearable gesture control systems are well-suited to human-robot interaction scenarios where users are mobile and must have hands free. A human study examined operation of a simulated ISS robotic arm using three different gesture input mappings compared to the traditional joystick interface. Two gesture mappings permitted multiple simultaneous inputs (multi-input), while the third was a single-input method. Experimental results support performance advantages of multi-input gesture methods over single input. Differences between the two multi-input methods in task completion and workload display an effect of user-directed attention on interface success. Mappings based on natural human arm movement are promising for gesture interfaces in mobile robotic applications. This study also highlights challenges in gesture mapping, including how users align gestures with their body and environment.