Learning from Demonstration for Real-Time User Goal Prediction and Shared Assistive Control

Qiao, Calvin Z.; Sakr, Maram; Muelling, Katharina; Admoni, Henny

doi:10.1109/icra48506.2021.9560758

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Cited by 10 publications

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“…2) Subjective measures: We administered a questionnaire based on prior research in mimicry-based telemanipulation [30] and shared control [15], [31] to measure perceived control, predictability, fluency, and trust. Additionally, we employed NASA TLX [32] to assess perceived workload.…”

Section: Fluencymentioning

confidence: 99%

Exploiting Task Tolerances in Mimicry-based Telemanipulation

Wang

Stifferman

Gleicher

2023

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Fig. 1: We explore how autonomous robot adjustments within task tolerances shape task performance and user experience in mimicry-based telemanipulation. For example, (A) in a teleoperated writing task, our human-subject experiment results indicate that (B) if the robot autonomously tilts or rotates the pen within task tolerances to improve pen tip accuracy and motion smoothness, telemanipulation is enhanced by the high-quality robot motions enabled by task tolerances, despite users lacking full control of the robot.

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