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

Medina Chilo N.O.; Canaza Ccari L.F.; Supo E.; Silva Vidal Y.; Sulla Espinoza E.; Pari L. · 2023 11th International Conference on Control, Mechatronics and Automation, ICCMA 2023 (2023) · DOI: 10.1109/iccma59762.2023.10374835

Resumen

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.

Instituciones: Universidad Nacional de San Agustín de Arequipa