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Human demonstrations are important in a range of robotics applications, andare created with a variety of input methods. However, the design space forthese input methods has not been extensively studied. In this paper, focusingon demonstrations of hand-scale object manipulation tasks to robot arms withtwo-finger grippers, we identify distinct usage paradigms in robotics thatutilize human-to-robot demonstrations, extract abstract features that form adesign space for input methods, and characterize existing input methods as wellas a novel input method that we introduce, the instrumented tongs. We detailthe design specifications for our method and present a user study that comparesit against three common input methods: free-hand manipulation, kinestheticguidance, and teleoperation. Study results show that instrumented tongs providehigh quality demonstrations and a positive experience for the demonstratorwhile offering good correspondence to the target robot.

Characterizing Input Methods for Human-to-robot Demonstrations