Kinesthetic Teaching in Robotics: a Mixed Reality Approach
arXiv:2409.02305
Abstract
As collaborative robots become more common in manufacturing scenarios and adopted in hybrid human-robot teams, we should develop new interaction and communication strategies to ensure smooth collaboration between agents. In this paper, we propose a novel communicative interface that uses Mixed Reality as a medium to perform Kinesthetic Teaching (KT) on any robotic platform. We evaluate our proposed approach in a user study involving multiple subjects and two different robots, comparing traditional physical KT with holographic-based KT through user experience questionnaires and task-related metrics.
This paper has been published in the Proceedings of the 2024 IEEE International Conference on Human and Robot Interactive Communication (RO-MAN), Pasadena, CA, USA, August 2024