Analysis of a User Interface Based on Multimodal Interaction to Control a Robotic Arm for EOD Applications

Denilson V. Goyzueta, Guevara M. Joseph, Montoya A. Andrés, Sulla E. Erasmo, Lester S. Yuri, L. Pari, Supo C. Elvis

Research output: Contribution to journalArticlepeer-review


A global human–robot interface that meets the needs of Technical Explosive Ordnance Disposal Specialists (TEDAX) for the manipulation of a robotic arm is of utmost importance to make the task of handling explosives safer, more intuitive and also provide high usability and efficiency. This paper aims to evaluate the performance of a multimodal system for a robotic arm that is based on Natural User Interface (NUI) and Graphical User Interface (GUI). The mentioned interfaces are compared to determine the best configuration for the control of the robotic arm in Explosive Ordnance Disposal (EOD) applications and to improve the user experience of TEDAX agents. Tests were conducted with the support of police agents Explosive Ordnance Disposal Unit-Arequipa (UDEX-AQP), who evaluated the developed interfaces to find a more intuitive system that generates the least stress load to the operator, resulting that our proposed multimodal interface presents better results compared to traditional interfaces. The evaluation of the laboratory experiences was based on measuring the workload and usability of each interface evaluated.

Original languageEnglish
Article number1690
JournalElectronics (Switzerland)
Issue number11
StatePublished - 1 Jun 2022

Bibliographical note

Funding Information:
Funding: This research was funded by Universidad Nacional de San Agustín de Arequipa with contract number IBA-IB-27-2020-UNSA.

Funding Information:
Acknowledgments: With the support of the Universidad Nacional de San Agustín de Arequipa with the following contract N◦. IBA-IB-27-2020-UNSA and UDEX-AQP; for the development of the project through the information collected and for their invaluable guidelines to explore the facets of this work.

Publisher Copyright:
© 2022 by the authors. Licensee MDPI, Basel, Switzerland.


  • explosive ordnance disposal
  • human–robot interaction
  • multimodal interface
  • natural user interface
  • usability measurement
  • workload measurement


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