An Evaluation of Visual Interfaces for Teleoperated Control of Kinematically Redundant Manipulators

The utilization of robots in hazardous environments for tasks that require high safety and/or precision is significantly increasing. In this work, we consider scenarios where kinematically redundant manipulators are teleoperated to complete tasks specified by point-to-point motion. Teleoperator performance is evaluated based on several different criteria. We build upon previous work on the performance of human/robotic systems by studying the effects of two different visual interfaces. Namely, we compare a world view with an eye-in-hand view and evaluate how these two different visual interfaces affect human performance and task completion.