Impact of different interfaces on trust during authority shifting in collaborative robotics
Loading...
Files
Accepted Version
Date
2026-02-23
Authors
Menolotto, Matteo
Gandhi, Aryan
Kumar Pandey, Ashok
O'Flynn, Brendan
Journal Title
Journal ISSN
Volume Title
Publisher
IEEE
Published Version
Abstract
Real-time authority handovers in human–robot collaboration demand redictable post-takeover control. This study compared keyboard control with a wrist-mounted position tracker following a common gesture-based authority switch. Thirteen participants (within-subjects, counterbalanced) performed a collaborative pick-and-place task with a cobot while trust (primary outcome) as measured using a 10-item, 5-point scale. The keyboard control produced higher trust than the tracker: mean paired difference 0.362 (1–5 scale; 95% CI [0.078, 0.646]), t(12) = 2.774, p = 0.0169; corroborated by Wilcoxon p = 0.0234 (rankbiserial 0.758; Hodges–Lehmann 0.300). Results indicate that during handovers, redictability and low input variance foster greater operator trust than embodied pose-based control. Design implications include handover human–machine interactions that make mode changes unmistakable, apply early damping/noise rejection after takeover, and use hybrid strategies that anchor the handover with discrete inputs before reintroducing embodied control.
Description
Keywords
SDG 9 - Industry, Innovation, and Infrastructure , Human-robotic interaction , Authority switching , Trust , Teleoperation , Smart manufacturing , [TyndallMicroNano]
Citation
Menolotto, M., Gandhi, A., Kumar Pandey, A. and O'Flynn, B. (2026) 'Impact of different interfaces on trust during authority shifting in collaborative robotics', IEEE Applied Sensing Conference 2026, India, 23 February 2026, pp. 1-4.