The results of two usability experiments evaluating an interface for the operation of OctArm, a biologically inspired
robotic arm modeled after an octopus tentacle, are reported. Due to the many degrees-of-freedom (DOF) for the operator
to control, such 'continuum' robotic limbs provide unique challenges for human operators because they do not map
intuitively. Two modes have been developed to control the arm and reduce the DOF under the explicit direction of the
operator. In coupled velocity (CV) mode, a joystick controls changes in arm curvature. In end-effector (EE) mode, a
joystick controls the arm by moving the position of an endpoint along a straight line. In Experiment 1, participants used
the two modes to grasp objects placed at different locations in a virtual reality modeling language (VRML). Objective
measures of performance and subjective preferences were recorded. Results revealed lower grasp times and a subjective
preference for the CV mode. Recommendations for improving the interface included providing additional feedback and
implementation of an error recovery function. In Experiment 2, only the CV mode was tested with improved training of
participants and several changes to the interface. The error recovery function was implemented, allowing participants to
reverse through previously attained positions. The mean time to complete the trials in the second usability test was
reduced by more than 4 minutes compared with the first usability test, confirming the interface changes improved
performance. The results of these tests will be incorporated into future versions of the arm and improve future usability
tests.
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