Abstract
Task operators are using robotic arms more often and in more settings than ever before. However, little is known about what type of control device, zero- or first-order control, will result in the best performance in a teleoperation task. The goal of this research was to investigate the difference in task performance using two different control devices: a joystick controller and a gesture controller. In the experiment, thirty-four undergraduate participants manipulated switches and knobs on a task board with a robotic arm using Xbox and Leap controllers. Performance was reflected by time spent on each task and task completion rate. Data were analyzed using a 2 (control device) x 4 (actuator type) repeated measures ANOVA. The results indicate significant performance differences when manipulating two actuator types, vertical continuous and rotary. We concluded that performance with the Leap controller was superior for some tasks and performance with the Xbox controller was superior for others, particularly the rotary task.
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