Exploiting Task Tolerances in Mimicry-based Telemanipulation

Figure 1: We explore how autonomous robot adjustments within task tolerances shape task performance and user experience in mimicry-based telemanipulation. For example, (A) in a teleoperated writing task, our human-subject experiment results indicate that (B) if the robot autonomously tilts or rotates the pen within task tolerances to improve pen tip accuracy and motion smoothness, telemanipulation is enhanced by the high-quality robot motions enabled by task tolerances, despite users lacking full control of the robot. Abstract-- We explore task tolerances, i.e., allowable position In this paper, we explore task tolerances as an important resource to facilitate functional mimicry in telemanipulation. The functional mimicry paradigm allows a robot to autonomously adjust within tolerances to generate more Mimicry-based telemanipulation maps a human operator's accurate, smooth, and feasible motions. In our previous hand movement to a robot's end effector in real time [1], work, we presented RangedIK [4] as a real-time motion [2]. The robot is often required to mimic the operator's generation method that exploits flexibility afforded by task movement as exactly as possible, so we call this paradigm tolerances.