VRML use for Iterative Usability Testing of user Interfaces: A Novel Continuum Robotic Limb Example

Abstract

Our team has developed a teleoperated robotic arm based on the biological model of an octopus. This “OctArm” has several advantages over traditional robotic designs, including the ability to grasp fragile objects with soft compliance, distributed pressure and the ability to pick up large or irregularly shaped objects. The development of an operator interface using a Virtual Reality Modeling Language (VRML) simulation has been a major focus. The simulation is used for both portable usability testing and as a visual display aid during the operation of the arm. Usability tests have been completed in the laboratory and the interface was tested in the field during an event sponsored by the Alliance for Robot Assisted Crisis Assessment and Response (ARACAR). VRML has proved to be a very useful tool for the development of the operator interface, robot control strategies, and training regimes. The use of VRML as a usability tool will be demonstrated.