Supplementary data for the paper 'AR-based telepresence in a robotic manipulation task: An experimental evaluation'

doi: 10.4121/8e458097-bc95-4a62-9b03-6f36fc8faedb.v1
The doi above is for this specific version of this dataset, which is currently the latest. Newer versions may be published in the future. For a link that will always point to the latest version, please use
doi: 10.4121/8e458097-bc95-4a62-9b03-6f36fc8faedb
Datacite citation style:
Thomas de Boer; de Winter, Joost; Eisma, Yke Bauke (2023): Supplementary data for the paper 'AR-based telepresence in a robotic manipulation task: An experimental evaluation'. Version 1. 4TU.ResearchData. dataset.
Other citation styles (APA, Harvard, MLA, Vancouver, Chicago, IEEE) available at Datacite

The current study investigated a spectrum of control methods in human-robot interaction, ranging from direct control to telepresence with a virtual representation of the robot arm. Twenty-four participants used a setup comprising a Franka Emika Panda robot arm, Varjo XR-3 head-mounted display, and Leap Motion Controller. Participants performed a box-and-block task with the bare hand (A), and under five gesture-controlled robotic operation methods: direct sight (B), sight via video-feedthrough (C), in a 3D telepresence environment with (D) and without (E) virtual representation of the robot arm, and using a 2D video feed (F). The number of grabbing attempts did not differ significantly between conditions, but local operation (B & C) yielded more transferred blocks than teleoperation (D–F). Teleoperation using a 3D presentation was advantageous compared to using a 2D video feed, as demonstrated by lower peak forces and smaller range in gripper heights compared to the 2D video feed, findings supported by analyses of head movement activity. Finally, the bare hand yielded the best performance and subjective ratings. In summary, teleoperation using a 3D presentation provided a smoother interaction than a 2D video feed. However, direct human interaction remains a benchmark yet to surpass.

  • 2023-09-04 first online, published, posted
data/.csv; data/.mat; script/.m; video/.mp4
Department of Cognitive Robotics, Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology


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