2021/09/13 by Miguel Altamirano Cabrera, Juanpablo Heredia, Cabrera, Miguel Altamirano +9
Engineering · Neuroscience · Psychology · #FOS: Computer and information sciences #Human-Automation Interaction and Safety #Robotics (cs.RO) #Tactile and Sensory Interactions #Teleoperation and Haptic Systems
paper · pdf · doi:10.48550/arxiv.2109.05912
openalex publication_date 2021/09/13 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28
Complex tasks require human collaboration since robots do not have enough\ndexterity. However, robots are still used as instruments and not as\ncollaborative systems. We are introducing a framework to ensure safety in a\nhuman-robot collaborative environment. The system is composed of a haptic\nfeedback display, low-cost wearable mocap, and a new collision avoidance\nalgorithm based on the Artificial Potential Fields (APF). Wearable optical\nmotion capturing system enables tracking the human hand position with high\naccuracy and low latency on large working areas. This study evaluates whether\nhaptic feedback improves safety in human-robot collaboration. Three experiments\nwere carried out to evaluate the performance of the proposed system. The first\none evaluated human responses to the haptic device during interaction with the\nRobot Tool Center Point (TCP). The second experiment analyzed human-robot\nbehavior during an imminent collision. The third experiment evaluated the\nsystem in a collaborative activity in a shared working environment. This study\nhad shown that when haptic feedback in the control loop was included, the safe\ndistance (minimum robot-obstacle distance) increased by 4.1 cm from 12.39 cm to\n16.55 cm, and the robot's path, when the collision avoidance algorithm was\nactivated, was reduced by 81%.\n