Journal on Multimodal User Interfaces

, Volume 12, Issue 1, pp 17–30 | Cite as

A natural interface based on intention prediction for semi-autonomous micromanipulation

  • Laura Cohen
  • Mohamed Chetouani
  • Stéphane Régnier
  • Sinan Haliyo
Original Paper
  • 28 Downloads

Abstract

Manipulation at micro and nano scales is a particular case for remote handling. Although novel robotic approaches emerge, these tools are not yet commonly adopted due to their inherent complexity and their lack of user-friendly interfaces. In order to fill this gap, this work first introduces a novel paradigm dubbed semi-autonomous. Its aim is to combine full-automation and user-driven manipulation by sequencing simple automated elementary tasks following user instructions. To acquire these instructions in a more natural and intuitive way, we propose a “metaphor-free” user interface implemented in a virtual reality environment. A predictive intention extraction technique is introduced through a computational model inspired from cognitive sciences and implemented using a Kinect depth sensor. The model is compared in terms of naturalness and intuitiveness to a gesture recognition technique to detect user actions, in a semi-autonomous pick-and-place operation. It shows an improvement in user performance in duration and success of the task, and a qualitative preference for the proposed approach as evaluated by a user survey. The projected technique may be a worthy alternative to manual operation on a basic keyboard/joystick setup or even an interesting complement to the use of a haptic feedback arm.

Keywords

HCI Microrobotics Intention prediction Gesture recognition Kinect 

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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Sorbonne Université, CNRS, Institut des Systèmes Intelligents et de Robotique (ISIR)ParisFrance

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