Programming by demonstration (PbD) is a simple and efficient way to program robots without explicit robot programming. PbD enables unskilled operators to easily demonstrate and guide different robots to execute task. In this paper we present comparison of demonstration methods with comprehensive user study. Each participant had to demonstrate drawing simple pattern with human demonstration using virtual marker and kinesthetic teaching with robot manipulator. To evaluate differences between demonstration methods, we conducted user study with 24 participants which filled out NASA raw task load index (rTLX) and system usability scale (SUS). We also evaluated similarity of the executed trajectories to measure difference between demonstrated and ideal trajectory. We concluded study with finding that human demonstration using a virtual marker is on average 8 times faster, superior in terms of quality and imposes 2 times less overall workload than kinesthetic teaching.

翻译：编程示教（PbD）是一种无需显式机器人编程即可对机器人进行编程的简单高效方法。PbD使得非专业操作员能够轻松演示并引导不同机器人执行任务。本文通过全面的用户研究，对演示方法进行了比较。每位参与者需使用虚拟标记进行人类演示，以及通过机器人操作臂进行动觉教学，演示绘制简单图案。为评估不同演示方法之间的差异，我们开展了包含24名参与者的用户研究，参与者填写了NASA原始任务负荷指数（rTLX）与系统可用性量表（SUS）。我们还评估了执行轨迹的相似度，以衡量演示轨迹与理想轨迹之间的差异。研究得出结论：使用虚拟标记的人类演示平均速度快8倍，在质量上更优，且总体工作量仅为动觉教学的二分之一。