Demonstration YouTube Link: https://youtu.be/3GmSzwU99HI

Robot teleoperation via human motion tracking has been proven to be easy to learn, intuitive to operate and facilitate faster task execution than existing baselines. However, precise control while performing the dexterous tele-manipulation tasks is still a challenge. In this study, we implement sensory augmentation in terms of haptic and augmented reality visual cues to represent four types of information critical to the precision and performance of a tele-manipulation task, namely: (1) target location; (2) constraint alert; (3) grasping affordance; and (4) grasp confirmation. We will conduct two user studies to investigate the effectiveness and preferred modality of the sensory feedback against no sensory support, and how the preference will be influenced by the different types of simulated real-world additional workload.

Demonstration YouTube Link: https://youtu.be/ap_--5dx_9w

Robot teleoperation is a reliable way to perform a variety of tasks with complex robotic systems. However, the remote control of active telepresence cameras on the robot for improved telepresence adds an additional degree of complexity while teleoperating and can thus affect the operator's performance during tele-manipulation. Our previous user study investigates the general human performance and preference when using various wearable cameras. In this study, we will investigate how humans respond to the usage of telepresence cameras in terms of motion behavior. The findings from our human motion analysis inform several desired designs for robot teleoperation interfaces and assistive autonomy.

Demonstration YouTube Link: https://youtu.be/D-z0SeuRDSI

We will conduct a user study in simulation to investigate the remote perception challenges in the teleoperation of mobile manipulator nursing robots. According to the recommendation of the related work in literature, we provide the participants an active telepresence camera with tethered viewpoint, wide field of view and mobility to adjust the camera. This Standard camera mode was compared to three alternative active telepresence camera designs, which opt for egocentric viewpoint, narrow field of view and fixed camera, respectively.