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Teleoperation (i.e., controlling a robot with human motion) proves promisingin enabling a humanoid robot to move as dynamically as a human. But how to maphuman motion to a humanoid robot matters because a human and a humanoid robotrarely have identical topologies and dimensions. This work presents anexperimental study that utilizes reaction tests to compare the proposed jointspace mapping and the proposed task space mapping for dynamic teleoperation ofan anthropomorphic robotic arm that possesses human-level dynamic motioncapabilities. The experimental results suggest that the robot achieved similarand, in some cases, human-level dynamic performances with both mappings for thesix participating human subjects. All subjects became proficient atteleoperating the robot with both mappings after practice, despite that thesubjects and the robot differed in size and link length ratio and that theteleoperation required the subjects to move unintuitively. Yet, most subjectsdeveloped their teleoperation proficiencies more quickly with the task spacemapping than with the joint space mapping after similar amounts of practice.This study also indicates the potential values of a three-dimensional taskspace mapping, a teleoperation training simulator, and force feedback to thehuman pilot for intuitive and dynamic teleoperation of a humanoid robot's arms.

A Comparison Between Joint Space and Task Space Mappings for Dynamic Teleoperation of an Anthropomorphic Robotic Arm in Reaction Tests