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The use of different feedback modalities and verbal collaboration in tele-robotic assistance

Bolarinwa, Joseph; Eimontaite, Iveta; Dogramadzi, Sanja; Mitchell, Tom; Caleb-Solly, Praminda


Joseph Bolarinwa

Tom Mitchell
Associate Professor in Creative Technologies

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Praminda Caleb-Solly
Professor in Assistive Robotics and Intelligent Health Technologies


This paper explores the effects of different feedback modalities (gripper orientation via peripheral (side) vision and haptic feedback) and verbal collaboration with the service-user on the performance of tele-operators in completing a tele-robotic assisted task. The study also analyses how tele-operator performance varied in relation to their experience of gaming and robotic technology. Tele-operator performance was measured in terms of task completion time (in seconds), how accurately they were able to orient the gripper, complexity of the robot arm trajectory taken for the task and perceived ease of use of tele-operating a robot arm. The results show that while the task completion time increased with the introduction of all forms of feedback, the ability for the tele-operator to accurately orient the gripper (which affects the success of completing the task) also increased. The study also found that the participants gave higher scores for ease of use for the scenarios that included the combined set of feedback modalities, including verbal feedback from the service-user.


Bolarinwa, J., Eimontaite, I., Dogramadzi, S., Mitchell, T., & Caleb-Solly, P. (2019). The use of different feedback modalities and verbal collaboration in tele-robotic assistance.

Conference Name 2019 IEEE International Symposium on Robotic and Sensors Environments (ROSE)
Start Date Jun 17, 2019
End Date Jun 18, 2019
Acceptance Date May 20, 2019
Online Publication Date Aug 8, 2019
Publication Date Aug 8, 2019
Deposit Date Sep 30, 2019
ISBN 9781728119649
Public URL