# Augmented Reality-Based Interface for Bimanual Robot Teleoperation
## 5 Conclusions  
A solution to improve the assisted bimanual robot teleoperation has been developed in this work using augmented reality (AR) technology and tools. In particular, a new AR interface using the Microsoft _HoloLens glasses_ has been proposed to mitigate the problems in terms of user ergonomics and task performance (i.e., completion time and finishing quality) raised from the use of conventional PC-based user interfaces. In addition, this work has proposed and followed a new methodology to design and develop AR interfaces for bimanual robotic systems.  
The effectiveness and applicability of the proposed AR interface were shown by means of real experimentation with an advanced bimanual robot application consisting of two robotic arms: a 7R cobot and a 6R industrial manipulator.  
It is worth noting that several users, who tested both the conventional PC-based interface and the proposed AR interface, found the latter more intuitive and were able to conduct the robot teleoperation task faster. Note that when the users teleoperated the bimanual robot system using the conventional PC-based interface, most of them complained about the difficulty of checking whether the robots were performing the task correctly or not. In addition, the users indicated that with the conventional PC-based interface, it was not easy for them to command both robots simultaneously because they could not pay attention  
Figure 19: The 3D trajectory performance for the fourth experiment, showing the simultaneous teleoperation of both robots (see the video at [[https://media.upv.es/player/?id=29330720-8a8b-11](https://media.upv.es/player/?id=29330720-8a8b-11) ec-97 cd-ab744931636]([https://media.upv.es/player/?id=29330720-8a8b-11](https://media.upv.es/player/?id=29330720-8a8b-11) ec-97 cd-ab744931636) (accessed on 26 April 2022) [84]): 3D allowed region in green; trajectory followed by the user reference in thin red line; and trajectory followed by the WR end-effector in thick blue line.  
to so many reference signals shown. These facts negatively affected the performance of the users in terms of the time required to complete the task. Thus, the mentioned issues were mitigated with the proposed AR interface, significantly improving the user performance in the teleoperation task.  
Another relevant remark is that the users also indicated that the warning sounds helped them in the early stages of the teleoperation task but, as the time of use of the interface increased, these sounds were annoying and they preferred only the visual warnings.  
Conceptualization, J.E.S. and L.G.; Funding acquisition, J.T.; Investigation, J.E.S., A.M. and L.G.; Methodology, J.E.S. and L.G.; Resources, J.T.; Software, A.G. and A.M.; Supervision, L.G. and J.T.; Writing--original draft, J.E.S.; Writing--review & editing, L.G. All authors have read and agreed to the published version of the manuscript.  
This research was funded by the Spanish Government (Grant PID2020-117421 RB-C21 funded by MCIN/AEI/10.13039/501100011033) and by the Generalitat Valenciana (Grants GV/2021/181 and ACIF/2019/007).  
The authors declare no conflict of interest.