Abstract
In the last decade, the objectives outlined by the needs of personal robotics have led to the rise of new biologically-inspired techniques for arm motion planning. This paper presents a literature review of the most recent research on the generation of human-like arm movements in humanoid and manipulation robotic systems. Search methods and inclusion criteria are described. The studies are analyzed taking into consideration the sources of publication, the experimental settings, the type of movements, the technical approach, and the human motor principles that have been used to inspire and assess human-likeness. Results show that there is a strong focus on the generation of single-arm reaching movements and biomimetic-based methods. However, there has been poor attention to manipulation, obstacle-avoidance mechanisms, and dual-arm motion generation. For these reasons, human-like arm motion generation may not fully respect human behavioral and neurological key features and may result restricted to specific tasks of human-robot interaction. Limitations and challenges are discussed to provide meaningful directions for future investigations.
Highlights
New questions inevitably arise during the design of novel Human-Robot Interaction (HRI) or Collaboration (HRC) paradigms and often concern the authority and the autonomy level of new intelligent devices [1]
This review provides an overview of the primary studies on novel human-like arm motion planners that are meant to enhance human-robot interactions and collaborations
A deeper analysis is reported in Section 3.3, which describes how different techniques for transferring human regularities into the robotics domain work
Summary
New questions inevitably arise during the design of novel Human-Robot Interaction (HRI) or Collaboration (HRC) paradigms and often concern the authority and the autonomy level of new intelligent devices [1]. The new social paradigm differs from the current Society 4.0 by the fact that robots will be passive tools as they are today. On the contrary, they are expected to be active agents capable of proactive data collecting, making decisions and friendly behaving to maintain human beings at the core of the society, but not alone within it. A robot with these features is human-centered because it is meant to interact, collaborate, and work in unstructured environments with human beings [4].
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