Kinesthetic Teaching in Robotics: a Mixed Reality Approach

As collaborative robots become more common in manufacturing scenarios and adopted in hybrid human-robot teams, we should develop new interaction and communication strategies to ensure smooth collaboration between agents. In this paper, we propose a novel communicative interface that uses Mixed Reality as a medium to perform Kinesthetic Teaching (KT) on any robotic platform. We evaluate our proposed approach in a user study involving multiple subjects and two different robots, comparing traditional physical KT with holographic-based KT through user experience questionnaires and task-related metrics.

Investigating Mixed Reality for Communication Between Humans and Mobile Manipulators

This article investigates mixed reality (MR) to enhance human-robot collaboration (HRC). The proposed solution adopts MR as a communication layer to convey a mobile manipulator's intentions and upcoming actions to the humans with whom it interacts, thus improving their collaboration. A user study involving 20 participants demonstrated the effectiveness of this MR-focused approach in facilitating collaborative tasks, with a positive effect on overall collaboration performances and human satisfaction.