“The Robot-Arm Talks Back to Me” - Human Perception of Augmented Human-Robot Collaboration in Virtual Reality

2020 ◽  
Author(s):  
Alexander Arntz ◽  
Sabrina C. Eimler ◽  
H. Ulrich Hoppe
Keyword(s):  
Virtual Reality ◽  
Human Perception ◽  
Robot Arm ◽  
Human Robot Collaboration

Augmented Reality--Implications toward Virtual Reality, Human Perception and Performance

2012 ◽  
Author(s):  
R. A. Grier ◽  
H. Thiruvengada ◽  
S. R. Ellis ◽  
P. Havig ◽  
K. S. Hale ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Augmented Reality ◽  
Human Perception ◽  
And Performance

scholarly journals A Future Framework: Virtual Reality as an Architectural Instrument

2021 ◽  
Author(s):  
◽  
James Holth
Keyword(s):  
Virtual Reality ◽  
Architectural Design ◽  
Human Perception ◽  
Digital Tools ◽  
Spatial Characteristics ◽  
Digital Space ◽  
Immersive Virtual Environment ◽  
Digital Environments ◽  
Late Twentieth ◽  
Late Twentieth Century

<p>Architects work within the medium of digital space on a day-to-day basis, yet never truly get to experience the spaces they are creating until after they’re built. This creates a disconnect in the design process that can lead to unexpected and unwanted results. Human perception is a powerful instrument and Virtual Reality (VR) technologies, coupled with more complex digital environments, could enable designers to take advantage of this. Through virtually inhabiting the space they are creating while they are creating it, designers can pre-visualise spatial qualities. These digital tools are experiencing a shift from technology still in development to a fully-fledged research instrument. With a growing level of technical literacy within the architectural discipline they could have the same revolutionary impact that the introduction of computers had in the late-twentieth century.  This thesis explores the potential of VR technology for processes of architectural design by assessing their combined ability to analyse a user’s perception of spatial qualities; in particular the sensation of people density within the work environment. Starting with a review of current literature in architecture and perception based science. A framework is proposed by which to assess the impacts of spatial characteristics within an Immersive Virtual Environment (IVE). This is followed by a design-led series of iterative framework developments centred on increasing user immersion within digital space. Through this methodology a greater understanding is obtained of users perceptions of spatial characteristics and of the process required to design iteratively within an IVE framework.</p>

scholarly journals Bilaterally Shared Haptic Perception for Human-Robot Collaboration in Grasping Operation

2021 ◽  
Vol 33 (5) ◽  
pp. 1104-1116
Author(s):  
Yoshihiro Tanaka ◽  
Shogo Shiraki ◽  
Kazuki Katayama ◽  
Kouta Minamizawa ◽  
Domenico Prattichizzo ◽  
...  
Keyword(s):  
Haptic Perception ◽  
Tactile Feedback ◽  
Tactile Display ◽  
Just Noticeable Difference ◽  
Robot Arm ◽  
Collaborative Task ◽  
Grasping Force ◽  
The Stability ◽  
Tactile Sensations ◽  
Human Robot Collaboration

Tactile sensations are crucial for achieving precise operations. A haptic connection between a human operator and a robot has the potential to promote smooth human-robot collaboration (HRC). In this study, we assemble a bilaterally shared haptic system for grasping operations, such as both hands of humans using a bottle cap-opening task. A robot arm controls the grasping force according to the tactile information from the human that opens the cap with a finger-attached acceleration sensor. Then, the grasping force of the robot arm is fed back to the human using a wearable squeezing display. Three experiments are conducted: measurement of the just noticeable difference in the tactile display, a collaborative task with different bottles under two conditions, with and without tactile feedback, including psychological evaluations using a questionnaire, and a collaborative task under an explicit strategy. The results obtained showed that the tactile feedback provided the confidence that the cooperative robot was adjusting its action and improved the stability of the task with the explicit strategy. The results indicate the effectiveness of the tactile feedback and the requirement for an explicit strategy of operators, providing insight into the design of an HRC with bilaterally shared haptic perception.

Using Virtual Reality to Test Human-Robot Interaction During a Collaborative Task

2019 ◽  
Author(s):  
Roberta Etzi ◽  
Siyuan Huang ◽  
Giulia Wally Scurati ◽  
Shilei Lyu ◽  
Francesco Ferrise ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Manufacturing Industry ◽  
Physiological Responses ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Assembly Task ◽  
Head Mounted Display ◽  
Collaborative Platform ◽  
Simple Assembly ◽  
Human Robot Collaboration

Abstract The use of collaborative robots in the manufacturing industry has widely spread in the last decade. In order to be efficient, the human-robot collaboration needs to be properly designed by also taking into account the operator’s psychophysiological reactions. Virtual Reality can be used as a tool to simulate human-robot collaboration in a safe and cheap way. Here, we present a virtual collaborative platform in which the human operator and a simulated robot coordinate their actions to accomplish a simple assembly task. In this study, the robot moved slowly or more quickly in order to assess the effect of its velocity on the human’s responses. Ten participants tested this application by using an Oculus Rift head-mounted display; ARTracking cameras and a Kinect system were used to track the operator’s right arm movements and hand gestures respectively. Performance, user experience, and physiological responses were recorded. The results showed that while humans’ performances and evaluations varied as a function of the robot’s velocity, no differences were found in the physiological responses. Taken together, these data highlight the relevance of the kinematic aspects of robot’s motion within a human-robot collaboration and provide valuable insights to further develop our virtual human-machine interactive platform.

scholarly journals An Augmented Discrete-Time Approach for Human-Robot Collaboration

2016 ◽  
Vol 2016 ◽  
pp. 1-13 ◽  
Author(s):  
Peidong Liang ◽  
Lianzheng Ge ◽  
Yihuan Liu ◽  
Lijun Zhao ◽  
Ruifeng Li ◽  
...  
Keyword(s):  
Discrete Time ◽  
Human Motion ◽  
Stiffness Index ◽  
Robot Dynamics ◽  
Robot Arm ◽  
Human Arm ◽  
Human Kinematics ◽  
Human Motor ◽  
New Generation ◽  
Human Robot Collaboration

Human-robot collaboration (HRC) is a key feature to distinguish the new generation of robots from conventional robots. Relevant HRC topics have been extensively investigated recently in academic institutes and companies to improve human and robot interactive performance. Generally, human motor control regulates human motion adaptively to the external environment with safety, compliance, stability, and efficiency. Inspired by this, we propose an augmented approach to make a robot understand human motion behaviors based on human kinematics and human postural impedance adaptation. Human kinematics is identified by geometry kinematics approach to map human arm configuration as well as stiffness index controlled by hand gesture to anthropomorphic arm. While human arm postural stiffness is estimated and calibrated within robot empirical stability region, human motion is captured by employing a geometry vector approach based on Kinect. A biomimetic controller in discrete-time is employed to make Baxter robot arm imitate human arm behaviors based on Baxter robot dynamics. An object moving task is implemented to validate the performance of proposed methods based on Baxter robot simulator. Results show that the proposed approach to HRC is intuitive, stable, efficient, and compliant, which may have various applications in human-robot collaboration scenarios.

Human Perception of the Maximum Safe Speed of Robot Motions

1987 ◽  
Vol 31 (2) ◽  
pp. 186-190 ◽  
Author(s):  
Waldemar Karwowski ◽  
T. Plank ◽  
M. Parsaei ◽  
M. Rahimi
Keyword(s):  
Selection Process ◽  
Human Perception ◽  
Industrial Robots ◽  
Adjustment Process ◽  
Maximum Speed ◽  
Initial Speed ◽  
Robot Arm ◽  
Human Operators ◽  
Arm Motion ◽  
Assembly Tasks

A laboratory experiment was conducted to determine the maximum speeds of robot arm motion considered by the subjects as safe for human operators working in a close proximity of the robot's working envelope. Twenty-nine college students (16 males and 13 females) participated in the study as monitors of the simulated assembly tasks performed by two industrial robots of different size and work capabilities. The results show that the speed selection process depends on the robot's physical size and its initial speed at the start of the adjustment process. Subjects selected higher speeds as “safe” if they were first exposed to the maximum speed of the robot, and significantly lower values when the initial speed of the robot's actions was only 5% of maximum. It was also shown that the subject's previous exposure to robots and the level of their knowledge of industrial robots highly affected their perception of safe speeds of robot motions. Such effects differ, however, between males and females.

scholarly journals On Applying Virtual Reality to Underwater Robot Tele-Operation and Pilot Training

2001 ◽  
Vol 5 (1) ◽  
pp. 71-91 ◽  
Author(s):  
Qingping Lin ◽  
Chengi Kuo
Keyword(s):  
Virtual Reality ◽  
Research Work ◽  
Human Perception ◽  
Current Status ◽  
Pilot Training ◽  
Underwater Robot ◽  
Science And Engineering ◽  
Operation System ◽  
Novel Concept ◽  
And Training

Virtual reality systems are being increasingly used for enhancing human perception of complex real-world or synthetic events. Serious applications outside entertainment range from education training to science and engineering. In this paper, we present our research work concerning the use of virtual reality in underwater robot tele-operation and training. We have proposed a novel concept of ROV safety domain to overcome the robot sensor error issue involved in virtual environment based underwater teleoperation approach. The detailed mathematical model of the ROV safety domain and its proof will be presented. In addition, we will examine how ROV safety domain can be used in underwater robot teleoperation, and present the architecture of our prototype virtual tele-operation system. Its current status and evaluation, as well as issues involved in its practical application will also be discussed.

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