  Mobile manipulator platforms, like the Stretch RE1 robot, make the promise of
in-home robotic assistance feasible. For people with severe physical
limitations, like those with quadriplegia, the ability to tele-operate these
robots themselves means that they can perform physical tasks they cannot
otherwise do themselves, thereby increasing their level of independence. In
order for users with physical limitations to operate these robots, their
interfaces must be accessible and cater to the specific needs of all users. As
physical limitations vary amongst users, it is difficult to make a single
interface that will accommodate all users. Instead, such interfaces should be
customizable to each individual user. In this paper we explore the value of
customization of a browser-based interface for tele-operating the Stretch RE1
robot. More specifically, we evaluate the usability and effectiveness of a
customized interface in comparison to the default interface configurations from
prior work. We present a user study involving participants with motor
impairments (N=10) and without motor impairments, who could serve as a
caregiver, (N=13) that use the robot to perform mobile manipulation tasks in a
real kitchen environment. Our study demonstrates that no single interface
configuration satisfies all users' needs and preferences. Users perform better
when using the customized interface for navigation, but not for manipulation
due to higher complexity of learning to manipulate through the robot. All
participants are able to use the robot to complete all tasks and participants
with motor impairments believe that having the robot in their home would make
them more independent.
