CoHaptics: Development of Human-Robot Collaborative System with Forearm-worn Haptic Display to Increase Safety in Future Factories

Miguel Altamirano Cabrera, Juan Heredia*, Jonathan Tirado, Vladislav Panov, Fikre Ragos, Dzmitry Tsetserukou

*Kontaktforfatter for dette arbejde

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Abstrakt

Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot collaborative environment. The system is composed of a haptic feedback display, low-cost wearable mocap, and a new collision avoidance algorithm based on the Artificial Potential Fields (APF). Wearable optical motion capturing system enables tracking the human hand position with high accuracy and low latency on large working areas. This study evaluates whether haptic feedback improves safety in human-robot collaboration. Three experiments were carried out to evaluate the performance of the proposed system. The first one evaluated human responses to the haptic device during interaction with the Robot Tool Center Point (TCP). The second experiment analyzed human-robot behavior during an imminent collision. The third experiment evaluated the system in a collaborative activity in a shared working environment. This study had shown that when haptic feedback in the control loop was included, the safe distance (minimum robot-obstacle distance) increased by 4.1 cm from 12.39 cm to 16.55 cm, and the robot's path, when the collision avoidance algorithm was activated, was reduced by 81%.
OriginalsprogEngelsk
Titel2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)
ForlagIEEE
Publikationsdato2021
Sider74-80
ISBN (Elektronisk)9781665418737
DOI
StatusUdgivet - 2021
Begivenhed17th IEEE International Conference on Automation Science and Engineering, CASE 2021 - Lyon, Frankrig
Varighed: 23. aug. 202127. aug. 2021

Konference

Konference17th IEEE International Conference on Automation Science and Engineering, CASE 2021
Land/OmrådeFrankrig
ByLyon
Periode23/08/202127/08/2021
NavnIEEE International Conference on Automation Science and Engineering
ISSN2161-8070

Bibliografisk note

Funding Information:
The reported study was funded by RFBR and CNRS, project number 21-58-15006 and the project “Energy-efficient Programming of Collaborative Robots” funded by ELFORSK.

Publisher Copyright:
© 2021 IEEE.

Emneord

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