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Design and validation of two-handed multi-touch tabletop controllers for robot teleoperation

Authors:

Katherine M. Tsui,

Holly A. YancoAuthors Info & Claims

IUI '11: Proceedings of the 16th international conference on Intelligent user interfaces

Pages 145 - 154

https://doi.org/10.1145/1943403.1943427

Published: 13 February 2011 Publication History

Abstract

Controlling the movements of mobile robots, including driving the robot through the world and panning the robot's cameras, typically requires many physical joysticks, buttons, and switches. Operators will often employ a technique called "chording" to cope with this situation. Much like a piano player, the operator will simultaneously actuate multiple joysticks and switches with his or her hands to create a combination of complimentary movements. However, these controls are in fixed locations and unable to be reprogrammed easily. Using a Microsoft Surface multi-touch table, we have designed an interface that allows chording and simultaneous multi-handed interaction anywhere that the user wishes to place his or her hands. Taking inspiration from the biomechanics of the human hand, we have created a dynamically resizing, ergonomic, and multi-touch controller (the DREAM Controller). This paper presents the design and testing of this controller with an iRobot ATRV-JR robot.

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Cited By

Audonnet FGrizou JHamilton AAragon-Camarasa G(2024)TELESIM: A Modular and Plug-and-Play Framework for Robotic Arm Teleoperation using a Digital Twin2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10610935(17770-17777)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10610935
Filho GGuerino GValentim NSantos CBento Villela MRios da Hora Rodrigues Kde Gois Ribeiro Darin T(2022)A systematic mapping study on usability and user eXperience evaluation of multi-touch systemsProceedings of the 21st Brazilian Symposium on Human Factors in Computing Systems10.1145/3554364.3559131(1-12)Online publication date: 17-Oct-2022
https://dl.acm.org/doi/10.1145/3554364.3559131
Han ZNorton AMcCann EBaraniecki LOber WShane DSkinner AYanco H(2021)Investigation of Multiple Resource Theory Design Principles on Robot Teleoperation and Workload Management2021 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA48506.2021.9561182(3858-3864)Online publication date: 30-May-2021
https://doi.org/10.1109/ICRA48506.2021.9561182
Show More Cited By

Index Terms

Design and validation of two-handed multi-touch tabletop controllers for robot teleoperation
1. Human-centered computing
  1. Human computer interaction (HCI)
    1. Interaction paradigms
      1. Graphical user interfaces

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Published In

cover image ACM Conferences

IUI '11: Proceedings of the 16th international conference on Intelligent user interfaces

February 2011

504 pages

ISBN:9781450304191

DOI:10.1145/1943403

General Chairs:
Pearl Pu
EPFL, Switzerland
,
Michael Pazzani
Rutgers University, USA
,
Program Chairs:
Elisabeth André
Augsburg University, Germany
,
Doug Riecken
CCLS Columbia University, USA

Copyright © 2011 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Publication History

Published: 13 February 2011

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IUI '11: 16th International Conference on Intelligent User Interfaces

February 13 - 16, 2011

CA, Palo Alto, USA

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Cited By

Audonnet FGrizou JHamilton AAragon-Camarasa G(2024)TELESIM: A Modular and Plug-and-Play Framework for Robotic Arm Teleoperation using a Digital Twin2024 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA57147.2024.10610935(17770-17777)Online publication date: 13-May-2024
https://doi.org/10.1109/ICRA57147.2024.10610935
Filho GGuerino GValentim NSantos CBento Villela MRios da Hora Rodrigues Kde Gois Ribeiro Darin T(2022)A systematic mapping study on usability and user eXperience evaluation of multi-touch systemsProceedings of the 21st Brazilian Symposium on Human Factors in Computing Systems10.1145/3554364.3559131(1-12)Online publication date: 17-Oct-2022
https://dl.acm.org/doi/10.1145/3554364.3559131
Han ZNorton AMcCann EBaraniecki LOber WShane DSkinner AYanco H(2021)Investigation of Multiple Resource Theory Design Principles on Robot Teleoperation and Workload Management2021 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA48506.2021.9561182(3858-3864)Online publication date: 30-May-2021
https://doi.org/10.1109/ICRA48506.2021.9561182
Yuan QWeng CLim ZChen I(2019)A Mirrored Motion Remapping Method in Telemanipulation-based Face-to-Face Dual-arm Robot Teaching2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)10.1109/AIM.2019.8868401(1086-1091)Online publication date: Jul-2019
https://doi.org/10.1109/AIM.2019.8868401
Wolfe KKutzer MTunstel E(2016)Exploiting redundancy to improve bimanual telepresent manipulation2016 World Automation Congress (WAC)10.1109/WAC.2016.7583020(1-6)Online publication date: Jul-2016
https://doi.org/10.1109/WAC.2016.7583020
Hamon APalanque PCronel M(2015)Dependable multi-touch interactions in safety critical industrial contexts: Application to aeronautics2015 IEEE 13th International Conference on Industrial Informatics (INDIN)10.1109/INDIN.2015.7281868(980-987)Online publication date: Jul-2015
https://doi.org/10.1109/INDIN.2015.7281868
Hamon APalanque PAndré RBarboni ECronel MNavarre D(2014)Multi-Touch interactions for control and display in interactive cockpitsProceedings of the International Conference on Human-Computer Interaction in Aerospace10.1145/2669592.2669650(1-10)Online publication date: 30-Jul-2014
https://dl.acm.org/doi/10.1145/2669592.2669650
Katyal KBrown CHechtman SPara MMcGee TWolfe KMurphy RKutzer MTunstel EMcLoughlin MJohannes M(2014)Approaches to robotic teleoperation in a disaster scenario: From supervised autonomy to direct control2014 IEEE/RSJ International Conference on Intelligent Robots and Systems10.1109/IROS.2014.6942809(1874-1881)Online publication date: Sep-2014
https://doi.org/10.1109/IROS.2014.6942809
Harriott CAdams J(2013)Modeling Human Performance for Human–Robot SystemsReviews of Human Factors and Ergonomics10.1177/1557234X135014719:1(94-130)Online publication date: 23-Dec-2013
https://doi.org/10.1177/1557234X13501471
Pfaff MKlein GDrury JMoon SLiu YEntezari S(2012)Supporting Complex Decision Making Through Option AwarenessJournal of Cognitive Engineering and Decision Making10.1177/15553434124557997:2(155-178)Online publication date: 10-Sep-2012
https://doi.org/10.1177/1555343412455799
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