Spatial Augmented Reality User Interface for Assistive Robot manipulation
Keywords: spatial augmented reality, projection mapping, assistive robotics
TL;DR: We present a spatial augmented reality user interface for a manipulator that can select objects, communicate robot intent, and display the manipulator's workspace.
Abstract: We present the design of a spatial augmented reality (SAR) system for an assistive robot manipulator mounted to a mobility scooter. Our system is capable of directly designating objects for the system to grasp using a cursor projected into the manipulator's workspace that can be manipulated with a joystick. It also displays the manipulator's workspace by highlighting surfaces within the reach of the manipulator, and communicating robot intent through highlighting segmented objects that the system intends to grasp. In this paper, we describe current work on the design and implementation of this system, and a user study that is currently in progress that is intended to compare a system implemented using this SAR modality against a more traditional graphical user interface (GUI).
Submission Number: 15
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