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This paper presents a user study comparing three robot teaching modalities: kinesthetic guidance, joystick teleoperation, and hand gestures, across three manipulation tasks. They evaluated replay success, workload (NASA-TLX), and common errors. Results indicate kinesthetic guidance excels in orientation-sensitive and contact-rich tasks, joystick teleoperation is best for simple peg picking, and hand gestures show promise despite being less reliable overall.
Kinesthetic teaching isn't always king: joystick teleoperation surprisingly wins for simple pick-and-place, and hand gestures are more competitive than you'd think.
Instructing robots from demonstrations can be done through different teaching modalities, each with different usability and performance trade-offs. This paper compares kinesthetic guidance, joystick teleoperation, and hand gestures in a user study with eight participants. We evaluate replay success, modified NASA-TLX workload, and common teaching errors across three manipulation tasks. Kinesthetic guidance produced the shortest demonstrations, lowest workload, and highest success on the more orientation-sensitive and contact-rich tasks. Joystick teleoperation performed best on simple peg picking. Hand-gesture teaching, although less reliable overall, performed better than expected and in some cases achieved results comparable to kinesthetic guidance.
