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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/EF17_049%2F0008425" target="_blank" >EF17_049/0008425: Platforma pro výzkum orientovaný na Průmysl 4.0 a robotiku v ostravské aglomeraci</a><br>

Návaznosti

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

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název periodika

Sensors. Vol. 20

ISSN

1424-8220

e-ISSN

—

Svazek periodika

21

Číslo periodika v rámci svazku

11

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

23

Strana od-do

—

Kód UT WoS článku

000660660400001

EID výsledku v databázi Scopus

2-s2.0-85106443967