Abstract
In this work, we extend the previously proposed approach of improving mutual perception during human–robot collaboration by communicating the robot’s motion intentions and status to a human worker using hand-worn haptic feedback devices. The improvement is presented by introducing spatial tactile feedback, which provides the human worker with more intuitive information about the currently planned robot’s trajectory, given its spatial configuration. The enhanced feedback devices communicate directional information through activation of six tactors spatially organised to represent an orthogonal coordinate frame: the vibration activates on the side of the feedback device that is closest to the future path of the robot. To test the effectiveness of the improved human–machine interface, two user studies were prepared and conducted. The first study aimed to quantitatively evaluate the ease of differentiating activation of individual tactors of the notification devices. The second user study aimed to assess the overall usability of the enhanced notification mode for improving human awareness about the planned trajectory of a robot. The results of the first experiment allowed to identify the tactors for which vibration intensity was most often confused by users. The results of the second experiment showed that the enhanced notification system allowed the participants to complete the task faster and, in general, improved user awareness of the robot’s movement plan, according to both objective and subjective data. Moreover, the majority of participants (82%) favoured the improved notification system over its previous non-directional version and vision-based inspection.
Highlights
Published: 26 August 2021Collaborative robot applications bring new possibilities for the automation of manufacturing processes and better adaptability of the work task in a low structured environment through human intelligence, perception, and decision-making ability [1]
The human–robot collaboration is enhanced by introducing haptic feedback devices (HMIs), whose task is to reliably notify the human worker about the currently planned robot’s trajectory and changes in its status
The system combines active collision avoidance of the collaborative robot with hand-worn tactile notification devices, which alerts the human worker when approaching the space that will be occupied by the robot during its future trajectory: the closer the worker’s hand approaches the future segment of the trajectory, the stronger the vibration provided by the device
Summary
Published: 26 August 2021Collaborative robot applications bring new possibilities for the automation of manufacturing processes and better adaptability of the work task in a low structured environment through human intelligence, perception, and decision-making ability [1]. Most of the modern collaborative industrial applications are limited by the fact that neither collaborative side is fully aware of the partner: the human operator may not see the robot movement due to own engagement in the work process, and the collaborative robot has no means of knowing the position of the operator. This fact may manifest in possible collisions, which are, relatively safe, as the collaborative robots are lightweight and highly sensitive to the impacts. It Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations
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