A Comparison of NUI Interfaces as Control Interfaces for Robotic Arms in EOD Applications

Nicolás O. Medina Chilo, Luis F. Canaza Ccari, Elvis Supo, Yuri Silva Vidal, Erasmo Sulla Espinoza, Lizardo Pari

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this research we have studied the performance of two NUI interfaces for the control of a robotic arm for EOD tasks, the Leap Motion contactless sensor and the Novint Falcon haptic device were used to control the Dobot Magician 5 of degrees of freedom robotic arm. Participants used both systems to simulate Pick and Place tasks, with different objects emulating suspicious packages, this being the most common task when using robotic systems for explosive ordnance disposal. The evaluations considered include placement accuracy, percentage of failures and/or collisions, completion time, mental workload and usability. The results obtained show that the Novint Falcon controller presents a lower mental workload, higher usability and a significant improvement in the performance to perform the proposed tasks, achieving a task completion effectiveness of 96% compared to the Leap Motion sensor-based interface with 77.42 % effectiveness.

Original languageEnglish
Title of host publication2023 11th International Conference on Control, Mechatronics and Automation, ICCMA 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages221-226
Number of pages6
ISBN (Electronic)9798350315684
DOIs
StatePublished - 2023
Event11th International Conference on Control, Mechatronics and Automation, ICCMA 2023 - Hybrid, Grimstad, Norway
Duration: 1 Nov 20233 Nov 2023

Publication series

Name2023 11th International Conference on Control, Mechatronics and Automation, ICCMA 2023

Conference

Conference11th International Conference on Control, Mechatronics and Automation, ICCMA 2023
Country/TerritoryNorway
CityHybrid, Grimstad
Period1/11/233/11/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

  • EOD Tasks
  • Mental Workload
  • NUI Interface
  • Robotic Arm
  • System Usability

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