Abstract
The research main objective was to generate a smooth cooperative rigid object transfer by a human hand and a robot manipulator mimicking the same task performs by two humans. In achieving such objective, the relationship between movement time and traveled distances of the cooperative task performed by two humans were investigated. A motion capture system was utilized to record the movement of two subjects namely, Leader and Follower during the cooperative transfer of an object using their right hands in a seated position. The cooperative task was performed in forward/backward directions relative to the Leader. The Leader informed the Follower on the onset and the terminating position prior to the execution of the cooperative task. Both subjects moved the object towards the target together. The results show a linear relationship between movement time and traveled distances. Both subjects were found to have similar relationship for the cooperative task in the same direction. In forward/backward cooperative task, the direction is not significant in influencing the relationship between movement time and traveled distances. The relationship will be tested with robotic motion in the next phase of the research.
Highlights
Human-robot cooperation is an emerging field that broadens the research opportunity in robotic technology
The research investigated the relationship between movement time and traveled distances in a cooperative task performed by two humans in forward/backward direction
The relationship was required by the Minimum Jerk Model to generate a smooth manipulator motion in human-robot system mimicking the smoothness of human Follower hand motion in human-human system
Summary
Human-robot cooperation is an emerging field that broadens the research opportunity in robotic technology. Arm-manipulator coordination in carrying an object simultaneously from one position to another is an example of various researches under human-robot cooperation field. A manipulator motion mimicking the smoothness and naturalness of human arm motion influences the acceptance of robotics technology for effective collaboration. Various researchers have studied on the generation of a smooth arm-manipulator cooperative motion. In human-robot system, a robotic motion based on the minimum jerk model provided better end-point motion estimation to the human receiver. The robot did not know the desired location of the human partner. The human partner arm motion was estimated using the minimum jerk model. The estimated arm position was used to determine the desired position of the end effector of the manipulator in virtual compliance control. None of the literatures studied on a cooperative task with predefined target location and movement onset e.g. arm-manipulator cooperative motion for part assembly task and etc
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
