Impact of different interfaces on trust during authority shifting in collaborative robotics

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dc.contributor.authorMenolotto, Matteo
dc.contributor.authorGandhi, Aryan
dc.contributor.authorKumar Pandey, Ashok
dc.contributor.authorO'Flynn, Brendan
dc.contributor.funderTaighde Éireann - Research Irelanden
dc.date.accessioned2026-03-04T17:50:02Z
dc.date.available2026-03-04T17:50:02Z
dc.date.issued2026-02-23
dc.description.abstractReal-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.en
dc.description.sponsorshipThis publication has emanated from research conducted with the financial support of Taighde Eireann under Grant Number SFI/12/RC/2289-2 -Insight Centre for Data Analytics. Aspects of this work have been supported under the following Grant Numbers: CONNECT Centre for Future Networks and Communications (13/RC/2077), and 16/RC/3918-CONFIRM and [21/RC/10303 P2]–VistaMilk. All work is co-funded under the European Regional Development Fund.
dc.description.statusPeer revieweden
dc.description.versionAccepted Versionen
dc.format.extent4
dc.format.extent939147
dc.format.mimetypeapplication/pdfen
dc.identifier.authororcidMenolotto, Matteo
dc.identifier.authororcidGandhi, Aryan
dc.identifier.authororcidKumar Pandey, Ashok
dc.identifier.authororcidO'Flynn, Brendan§0000-0002-5522-2597
dc.identifier.citationMenolotto, 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.en
dc.identifier.endpage4
dc.identifier.journaltitleIEEE Applied Sensing Conference 2026
dc.identifier.startpage1
dc.identifier.urihttps://hdl.handle.net/10468/18600
dc.language.isoen
dc.publisherIEEE
dc.rights© 2026, the Authors. For the purpose of Open Access, the author has applied a CC BY public copyright licence to any Author Accepted Manuscript version arising from this submission.en
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/en
dc.subjectSDG 9 - Industry, Innovation, and Infrastructure
dc.subjectHuman-robotic interaction
dc.subjectAuthority switching
dc.subjectTrust
dc.subjectTeleoperation
dc.subjectSmart manufacturing
dc.subject[TyndallMicroNano]
dc.titleImpact of different interfaces on trust during authority shifting in collaborative roboticsen
dc.typeConference itemen
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