Design and Evaluation of AR-Based Real-Time Feedback System for Kinesthetic Robot Teaching

Abstract

Learning from Demonstration (LfD) allows novice users to teach robots through demonstrations without coding; however, such demonstrations are often suboptimal and can limit robot performance. To better support novices, we investigate the design of a feedback system that enables effective human-robot communication during demonstrations. We first conducted a focus group study (N = 9) to identify effective ways of visualizing key robot information, including joint limits, self-collisions, and manipulability. Guided by these insights, we designed an AR-based real-time feedback system and evaluated it in a between-subjects user study (N = 36) on a 7-DoF collaborative robot. Participants performed..