Improved mutual understanding for human-robot collaboration: Combining human-aware motion planning with haptic feedback devices for communicating planned trajectory

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F21%3A10247542" target="_blank" >RIV/61989100:27230/21:10247542 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.3390/s21113673" target="_blank" >https://doi.org/10.3390/s21113673</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/s21113673" target="_blank" >10.3390/s21113673</a>

Result language

angličtina

Original language name

Improved mutual understanding for human-robot collaboration: Combining human-aware motion planning with haptic feedback devices for communicating planned trajectory

Original language description

In a collaborative scenario, the communication between humans and robots is a funda-mental aspect to achieve good efficiency and ergonomics in the task execution. A lot of research has been made related to enabling a robot system to understand and predict human behaviour, allowing the robot to adapt its motion to avoid collisions with human workers. Assuming the production task has a high degree of variability, the robot&apos;s movements can be difficult to predict, leading to a feeling of anxiety in the worker when the robot changes its trajectory and approaches since the worker has no information about the planned movement of the robot. Additionally, without information about the robot&apos;s movement, the human worker cannot effectively plan own activity without forcing the robot to constantly replan its movement. We propose a novel approach to communicating the robot&apos;s intentions to a human worker. The improvement to the collaboration is presented by introducing haptic feedback devices, whose task is to notify the human worker about the cur-rently planned robot&apos;s trajectory and changes in its status. In order to verify the effectiveness of the developed human-machine interface in the conditions of a shared collaborative workspace, a user study was designed and conducted among 16 participants, whose objective was to accurately rec-ognise the goal position of the robot during its movement. Data collected during the experiment included both objective and subjective parameters. Statistically significant results of the experiment indicated that all the participants could improve their task completion time by over 45% and gen-erally were more subjectively satisfied when completing the task with equipped haptic feedback devices. The results also suggest the usefulness of the developed notification system since it improved users&apos; awareness about the motion plan of the robot. (C) 2021 by the authors. Licensee MDPI, Basel, Switzerland.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

20204 - Robotics and automatic control

Project

<a href="/en/project/EF17_049%2F0008425" target="_blank" >EF17_049/0008425: A Research Platform focused on Industry 4.0 and Robotics in Ostrava Agglomeration</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year

2021

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Sensors. Vol. 20

ISSN

1424-8220

e-ISSN

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Volume of the periodical

21

Issue of the periodical within the volume

11

Country of publishing house

CH - SWITZERLAND

Number of pages

23

Pages from-to

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UT code for WoS article

000660660400001

EID of the result in the Scopus database

2-s2.0-85106443967