Human-robot interaction for robotic manipulator programming in Mixed Reality

In gaze-based Human-Robot Interaction (HRI), it is important to determine human visual intention for interacting with robots. One typical HRI interaction scenario is that a human selects an object by gaze and a robotic manipulator will pick up the object. In this work, we propose an approach, GazeEMD, that can be used to detect whether a human is looking at an object for HRI application. We use Earth Mover’s Distance (EMD) to measure the similarity between the hypothetical gazes at objects and the actual gazes. Then, the similarity score is used to determine if the human visual intention is on the object. We compare our approach with a fixation-based method and HitScan with a run length in the scenario of selecting daily objects by gaze. Our experimental results indicate that the GazeEMD approach has higher accuracy and is more robust to noises than the other approaches. Hence, the users can lessen cognitive load by using our approach in the real-world HRI scenario.

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Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human-Robot Interaction

Volume 5B: 40th Mechanisms and Robotics Conference ◽

10.1115/detc2016-59205 ◽

2016 ◽

Author(s):

Meiying Zhang ◽

Thierry Laliberté ◽

Clément Gosselin

Keyword(s):

Static Analysis ◽

Robotic Manipulator ◽

Numerical Results ◽

Elastic Force ◽

Human Robot Interaction ◽

Degree Of Freedom ◽

Elastic Component ◽

Robot Interaction ◽

Nonlinear Relationships

This paper presents the static analysis of elastic force and torque limiters that aim at limiting the forces that a robotic manipulator can apply on its environment. First, the design of one-degree-of-freedom force and torque limiting mechanisms is presented. It is shown that a single elastic component (spring) can be used to provide a prescribed preload and stiffness in both directions of motion along a given axis. Then, the mechanisms are analyzed in order to determine the nonlinear relationships between the motion of the mechanism and the extension of the spring. These relationships can then be used in the design of the force and torque limiters. Finally, the force capabilities of the mechanisms are investigated and numerical results are provided for example designs.

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Design and Static Analysis of Elastic Force and Torque Limiting Devices for Safe Physical Human–Robot Interaction

Journal of Mechanisms and Robotics ◽

10.1115/1.4035683 ◽

2017 ◽

Vol 9 (2) ◽

Cited By ~ 2

Author(s):

Meiying Zhang ◽

Thierry Laliberté ◽

Clément Gosselin

Keyword(s):

Static Analysis ◽

Robotic Manipulator ◽

Numerical Results ◽

Elastic Force ◽

Human Robot Interaction ◽

Degree Of Freedom ◽

Elastic Component ◽

Robot Interaction ◽

Nonlinear Relationships

This paper presents the static analysis of elastic force and torque limiters that aim at limiting the forces that a robotic manipulator can apply on its environment. First, the design of one-degree-of-freedom force and torque limiting mechanisms is presented. It is shown that a single elastic component (spring) can be used to provide a prescribed preload and stiffness in both directions of motion along a given axis. Then, the mechanisms are analyzed in order to determine the nonlinear relationships between the motion of the mechanism and the extension of the spring. These relationships can then be used in the design of the force and torque limiters. Finally, the force capabilities of the mechanisms are investigated and numerical results are provided for example designs.

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Innovative Collaborative Method for Interaction between a Human Operator and Robotic Manipulator Using Pointing Gestures

Applied Sciences ◽

10.3390/app12010258 ◽

2021 ◽

Vol 12 (1) ◽

pp. 258

Author(s):

Marek Čorňák ◽

Michal Tölgyessy ◽

Peter Hubinský

Keyword(s):

Main Idea ◽

Robotic Manipulator ◽

Human Robot Interaction ◽

Leap Motion ◽

Robot Interaction ◽

Body Tracking ◽

Pointing Gestures ◽

Natural Forms ◽

Human Body Tracking ◽

Robotic Applications

The concept of “Industry 4.0” relies heavily on the utilization of collaborative robotic applications. As a result, the need for an effective, natural, and ergonomic interface arises, as more workers will be required to work with robots. Designing and implementing natural forms of human–robot interaction (HRI) is key to ensuring efficient and productive collaboration between humans and robots. This paper presents a gestural framework for controlling a collaborative robotic manipulator using pointing gestures. The core principle lies in the ability of the user to send the robot’s end effector to the location towards, which he points to by his hand. The main idea is derived from the concept of so-called “linear HRI”. The framework utilizes a collaborative robotic arm UR5e and the state-of-the-art human body tracking sensor Leap Motion. The user is not required to wear any equipment. The paper describes the overview of the framework’s core method and provides the necessary mathematical background. An experimental evaluation of the method is provided, and the main influencing factors are identified. A unique robotic collaborative workspace called Complex Collaborative HRI Workplace (COCOHRIP) was designed around the gestural framework to evaluate the method and provide the basis for the future development of HRI applications.

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