Evaluation of an inverse-kinematics depth-sensing controller for operation of a simulated robotic arm

Abstract

Interaction using depth-sensing cameras has many applications in computer vision and spatial manipulation tasks. We present a user study that compares a short-range depth-sensing camera-based controller with an inverse-kinematics keyboard controller and a forward-kinematics joystick controller for two placement tasks. The study investigated ease of use, user performance and user preferences. Task completion times were recorded and insights on the measured and perceived advantages and disadvantages of these three alternative controllers from the perspective of user efficiency and satisfaction were obtained. The results indicate that users performed equally well using the depth-sensing camera and the keyboard controllers. User performance was significantly better with these two approaches than with the joystick controller, the reference method used in comparable commercial simulators. Most participants found that the depth-sensing camera controller was easy to use and intuitive, but some expressed discomfort stemming from the pose required for interaction with the controller.