Effects of Onset Latency and Robot Speed Delays on Mimicry-Control Teleoperation

In this paper, we study the effects of delays in a mimicry-control robot teleoperation interface which involves a user moving their arms to directly show the robot how to move and the robot follows in real time. Unlike prior work considering delays in other teleoperation systems, we consider delays due to robot slowness in addition to latency in the onset of movement commands. We present a human-subjects study that shows how different amounts and types of delays have different effects on task performance. We compare the movements under different delays to reveal the strategies that operators use to adapt to delay conditions and to explain performance differences. Our results show that users can quickly develop strategies to adapt to slowness delays but not onset latency delays. We discuss the implications of our results for the future development of methods designed to mitigate the effects of delays. CCS CONCEPTS •Human-centered computing → Interaction paradigms; • Computer systems organization → Robotics. Acm Reference Format: Acm Reference Format: Daniel Rakita, Bilge Mutlu, Michael Gleicher. 2020. Effects of Onset Latency and Robot Speed Delays on Mimicry-Control Teleoperation. In Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction (HRI’20), March 23–26, 2020, Cambridge, United Kingdom. ACM, New York, NY, USA, 9 pages. https://doi.org/10.1145/3319502.3374838