Towards Accessible Robot Control: Comparing Kinesthetic Teaching, SpaceMouse Teleoperation, and a Mixed Reality Interface

Understand

Teleoperation interfaces are essential tools for enabling human control of robotic systems.

• Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these interfaces and the capabilities afforded by direct human-guided robot control.
• This gap is further exacerbated when users are inexperienced or unfamiliar with the robotic platform or control interface.
• In this work, we aim to better characterize this performance gap for non-expert users by comparing two teleoperation approaches, SpaceMouse teleoperation and a Mixed Reality (MR) interface, against kinesthetic teaching as a non-teleoperation baseline.