SUBTA: A Framework for Supported User-Guided Bimanual Teleoperation in Structured Assembly
Xiao Liu, Prakash Baskaran, Songpo Li, Simon Manschitz, Wei Ma, Dirk Ruiken, Soshi Iba
AI summary
Problem
Standard teleoperation for complex assembly tasks demands high cognitive load, continuous operator attention, and robotics expertise, making it cumbersome for non-experts in manufacturing or hazardous environments.
Approach
The SUBTA framework estimates user intent and task structure using a scene graph, then provides real-time visual feedback and graduated motion-level corrections tailored to the current assembly step.
Key results
- 89.8% F1-score for task intention estimation
- Reduced mental demand from 6.2 to 3.4
- Nearly twofold increase in pose accuracy
- 75% success rate for non-expert operators
Why it matters
Enables non-expert operators to safely and efficiently execute complex bimanual assembly tasks in manufacturing and hazardous environments without extensive robotics training.
Abstract
In human-robot collaboration, shared autonomy enhances human performance through precise, intuitive sup- port. Effective robotic assistance requires accurately inferring human intentions and understanding task structures to deter- mine optimal support timing and methods. In this paper, we present SUBTA, a supported teleoperation system for bimanual assembly that couples learned intention estimation, scene- graph task planning, and context-dependent motion assists. We validate our approach through a user study (N=12) comparing standard teleoperation, motion-support only, and SUBTA. Linear mixed-effects analysis revealed that SUBTA significantly outperformed standard teleoperation in position accuracy (p < 0.001, d = 1.18) and orientation accuracy (p < 0.001, d = 1.75), while reducing mental demand (p = 0.002, d = 1.34). Post-experiment ratings indicate clearer, more trustworthy visual feedback and predictable interventions in SUBTA. The results demonstrate that SUBTA greatly improves both effectiveness and user experience in teleoperation.