Mental Transformations in Human-Robot Interaction

Abstract

Human-robot interfaces can be challenging and tiresome because of misalignments in the control and view relationships. The human user must mentally transform (e.g., rotate or translate) desired robot actions to required inputs at the interface. These mental transformations can increase task difficulty and decrease task performance. This chapter discusses how to improve task performance by decreasing the mental transformations in a human-robot interface. It presents a mathematical framework, reviews relevant background, analyzes both single and multiple camera-display interfaces, and presents the implementation of a mentally efficient interface.