Guiding Robots to Predefined Goal Positions with Multi-Modal Feedback

Manually guiding a robot to a predefined goal position is nearly impossible, because the user needs to align the tool center point of the robot precisely with the predefined position. In this paper we present an approach to enable guiding a robot to a goal position with the help of multi-modal feedback in form of haptic feedback by increasing the stiffness of the robot arm and visual feedback by showing the goal position and the degree to which this position is reached in a graphic simulation window. First, we describe our approach that utilizes multi-modal feedback, then we explain the user study used to evaluate our approach and in the end, an overview on the results of the evaluation is given.