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