  Soft growing robots are proposed for use in applications such as complex
manipulation tasks or navigation in disaster scenarios. Safe interaction and
ease of production promote the usage of this technology, but soft robots can be
challenging to teleoperate due to their unique degrees of freedom. In this
paper, we propose a human-centered interface that allows users to teleoperate a
soft growing robot for manipulation tasks using arm movements. A study was
conducted to assess the intuitiveness of the interface and the performance of
our soft robot, involving a pick-and-place manipulation task. The results show
that users completed the task with a success rate of 97%, achieving placement
errors below 2 cm on average. These results demonstrate that our
body-movement-based interface is an effective method for control of a soft
growing robot manipulator.
