From 2D to 3D Mixed Reality Human-Robot Interface in Hazardous Robotic Interventions with the Use of Redundant Mobile Manipulator

Krzysztof Szczurek, Krzysztof Szczurek, Raul Prades, Eloise Matheson, Hugo Perier, Luca Buonocore, Mario Di Castro

2021

Abstract

3D Mixed Reality (MR) Human-Robot Interfaces (HRI) show promise for robotic operators to complete tasks more quickly, safely and with less training. The objective of this study is to assess the use of 3D MR HRI environment in comparison with a standard 2D Graphical User Interface (GUI) in order to control a redundant mobile manipulator. The experimental data was taken during operation with a 9 DOF manipulator mounted in a robotized train, CERN Train Inspection Monorail (TIM), used for the Beam Loss Monitor robotic measurement task in a complex hazardous intervention scenario at CERN. The efficiency and workload of an operator were compared with the use of both types of interfaces with NASA TLX method. The usage of heart rate and Galvanic Skin Response parameters for operator condition and stress monitoring was tested. The results show that teleoperation with 3D MR HRI mitigates cognitive fatigue and stress by improving the operators understanding of both the robot’s pose and the surrounding environment or scene.

Paper Citation

in Harvard Style

Szczurek K., Prades R., Matheson E., Perier H., Buonocore L. and Di Castro M. (2021). From 2D to 3D Mixed Reality Human-Robot Interface in Hazardous Robotic Interventions with the Use of Redundant Mobile Manipulator. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 388-395. DOI: 10.5220/0010528503880395

in Bibtex Style

@conference{icinco21,
author={Krzysztof Szczurek and Raul Prades and Eloise Matheson and Hugo Perier and Luca Buonocore and Mario Di Castro},
title={From 2D to 3D Mixed Reality Human-Robot Interface in Hazardous Robotic Interventions with the Use of Redundant Mobile Manipulator},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={388-395},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010528503880395},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - From 2D to 3D Mixed Reality Human-Robot Interface in Hazardous Robotic Interventions with the Use of Redundant Mobile Manipulator
SN - 978-989-758-522-7
AU - Szczurek K.
AU - Prades R.
AU - Matheson E.
AU - Perier H.
AU - Buonocore L.
AU - Di Castro M.
PY - 2021
SP - 388
EP - 395
DO - 10.5220/0010528503880395