Effects of Onset Latency and Robot Speed Delays on Mimicry-Control Teleoperation

• Published in: 2020 15th ACM/IEEE International Conference on Human-Robot Interaction (HRI) pp. 519 - 527
• Main Authors: Rakita, Daniel, Mutlu, Bilge, Gleicher, Michael
• Format: Conference Proceeding
• Language: English
• Published: New York, NY, USA ACM 09.03.2020
• Series: ACM Conferences
• Subjects: Computer systems organization > Embedded and cyber-physical systems > Robotics; Computer systems organization > Embedded and cyber-physical systems > Robotics > External interfaces for robotics; Delays; Human-centered computing > Human computer interaction (HCI) > Interaction paradigms; Human-robot interaction; latency analysis; Manipulators; motion retargeting; Organizations; Real-time systems; Robots; Task analysis; Teleoperation; motion retargeting; teleoperation; latency analysis
• ISBN: 1450367461; 9781450367462
• ISSN: 2167-2148
• DOI: 10.1145/3319502.3374838

In this paper, we study the effects of delays in a mimicry-control robot teleoperation interface which involves a user moving their arms to directly show the robot how to move and the robot follows in real time. Unlike prior work considering delays in other teleoperation systems, we consider delays due to robot slowness in addition to latency in the onset of movement commands. We present a human-subjects study that shows how different amounts and types of delays have different effects on task performance. We compare the movements under different delays to reveal the strategies that operators use to adapt to delay conditions and to explain performance differences. Our results show that users can quickly develop strategies to adapt to slowness delays but not onset latency delays. We discuss the implications of our results for the future development of methods designed to mitigate the effects of delays.