scholarly journals Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface

2021 ◽  
Author(s):  
Stanley Mugisha ◽  
Matteo Zoppi ◽  
Rezia Molfino ◽  
Vamsi Guda ◽  
Christine Chevallereau ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Industrial Robots ◽  
Robotic Arm ◽  
Dominant Hand ◽  
Haptic Interfaces ◽  
Motion Generation ◽  
Object A ◽  
Head Mounted Display ◽  
Area Of Interest ◽  
The One

Abstract In the list of interfaces used to make virtual reality, haptic interfaces allow users to touch a virtual world with their hands. Traditionally, the user’s hand touches the end effector of a robotic arm. When there is no contact, the robotic arm is passive; when there is contact, the arm suppresses mobility to the user’s hand in certain directions. Unfortunately, the passive mode is never completely seamless to the user. Haptic interfaces with intermittent contacts are interfaces using industrial robots that move towards the user when contact needs to be made. As the user is immersed via a virtual reality Head Mounted Display (HMD), he cannot perceive the danger of a collision when he changes his area of interest in the virtual environment. The objective of this article is to describe movement strategies for the robot to be as fast as possible on the contact zone while guaranteeing safety. This work uses the concept of predicting the position of the user through his gaze direction and the position of his dominant hand (the one touching the object). A motion generation algorithm is proposed and then applied to a UR5 robot with an HTC vive tracker system for an industrial application involving the analysis of materials in the interior of a car.

Design of a Directional Olfactory Display to Study the Integration of Vision and Olfaction

2018 ◽  
Author(s):  
Lorenzo Micaroni ◽  
Marina Carulli ◽  
Francesco Ferrise ◽  
Monica Bordegoni ◽  
Alberto Gallace
Keyword(s):  
Virtual Reality ◽  
Low Cost ◽  
Olfactory Cues ◽  
Input Device ◽  
Experimental Setup ◽  
Initial Testing ◽  
Head Mounted Display ◽  
Innovative System ◽  
The One ◽  
Olfactory Display

This research aims to design and develop an innovative system, based on an olfactory display, to be used for investigating the directionality of the sense of olfaction. In particular, the design of an experimental setup to understand and determine to what extent the sense of olfaction is directional and whether there is prevalence of the sense of vision over the one of smell when determining the direction of an odor, is described. The experimental setup is based on low cost Virtual Reality (VR) technologies. In particular, the system is based on a custom directional olfactory display, an Oculus Rift Head Mounted Display (HMD) to deliver both visual and olfactory cues and an input device to register subjects’ answers. The VR environment is developed in Unity3D. The paper describes the design of the olfactory interface as well as its integration with the overall system. Finally the results of the initial testing are reported in the paper.

scholarly journals Study on image processing method to classify objects on dynamic conveyor

2020 ◽  
Vol 2 (SI2) ◽  
pp. First
Author(s):  
Huy Ngoc Tran
Keyword(s):  
Image Processing ◽  
High Speed ◽  
Object Identification ◽  
Industrial Robots ◽  
Robotic Arm ◽  
Robot Arm ◽  
Vision Sensor ◽  
Image Processing Algorithm ◽  
Product Packaging ◽  
Object A

Controlling a robotic arms for applications such as detection and classification moving object using the vision sensor is a trend in the field of industrial robots. In particular, the vision sensor is the "eye" of the robot. To solve this problem, we need an efficient image processing algorithm for object identification to optimize the speed. Our classification principle based on the color of the object to be classified first, then separating contour to classify according to the shape of the object. In addition, our paper also propose a classification method that rarely mentioned in the relevant documents that classify based on object's characteristic. In fact, the product packaging not only has one color, but also includes complex color and patterns. Being able to classify these products shows the practicality of the proposed method. For complex colors and patterns object, the PCASIFT algorithm is useful, where SIFT extracts the local characteristics of the object and PCA reduces the number of dimensionality and retain only the best characteristics for identification. To picking object, a proposed design with the optimal requirements of picking order so that picking time is the shortest to minimize the delay for the next picking. The other outstanding advantage is a system of robotic arm to perform pick-up and sorting. This helps to verify good running algorithms in real time. The items are randomly released and the rotation of items is random. The speed of the conveyor is 5cm/s, an average of more than 2 seconds to pick up an object and robot arm processing precisely at high speed. The experimental results using camera Logitech C270, Yamaha Scara YK-400X robotic arm, LabVolt conveyor and OpenCV library are satisfactory, reliable and applicable.

An Olfactory Display to Study the Integration of Vision and Olfaction in a Virtual Reality Environment

2019 ◽  
Vol 19 (3) ◽  
Author(s):  
Lorenzo Micaroni ◽  
Marina Carulli ◽  
Francesco Ferrise ◽  
Alberto Gallace ◽  
Monica Bordegoni
Keyword(s):  
Virtual Reality ◽  
Low Cost ◽  
Visual Display ◽  
Olfactory Cues ◽  
Input Device ◽  
Experimental Setup ◽  
Virtual Reality Environment ◽  
Head Mounted Display ◽  
The One ◽  
Olfactory Display

The paper describes the design of an innovative virtual reality (VR) system, based on a combination of an olfactory display and a visual display, to be used for investigating the directionality of the sense of olfaction. In particular, the design of an experimental setup to understand and determine to what extent the sense of olfaction is directional and whether there is prevalence of the sense of vision over the one of smell when determining the direction of an odor, is described. The experimental setup is based on low-cost VR technologies. In particular, the system is based on a custom directional olfactory display (OD), a head mounted display (HMD) to deliver both visual and olfactory cues, and an input device to register subjects' answers. The paper reports the design of the olfactory interface as well as its integration with the overall system.

Augmented Reality Aided Control of Industrial Robots

2014 ◽  
Vol 1025-1026 ◽  
pp. 1145-1149 ◽  
Author(s):  
Jozef Novak-Marcincin ◽  
Miroslav Janak ◽  
Ludmila Novakova-Marcincinova
Keyword(s):  
Virtual Reality ◽  
Augmented Reality ◽  
Experimental Testing ◽  
Industrial Robot ◽  
Industrial Applications ◽  
Industrial Robots ◽  
Head Mounted Display ◽  
Simultaneous Control ◽  
Manufacturing Technologies ◽  
Further Development

This contribution presents the method of simultaneous control and creation of programming sequences for industrial robot with the use of interactivity achieved in the environment of augmented reality. Paper describes the experimental testing of proposed conception realized at the Faculty of Manufacturing Technologies in Presov of Technical University of Kosice (Slovakia) in the environment of experimental robotic workcell with the use of augmented reality tools. From the viewpoint of displaying units it consider the projection on half-silvered glass as well as using the head mounted display for virtual reality. Final part of the paper summarizes possible trends of further development in described area and also the possibilities of industrial applications.

scholarly journals Telemanipulation of an Articulated Robotic Arm using a Commercial Virtual Reality Controller

2020 ◽  
Vol 6 (3) ◽  
pp. 127-130
Author(s):  
Max B. Schäfer ◽  
Kent W. Stewart ◽  
Nico Lösch ◽  
Peter P. Pott
Keyword(s):  
Virtual Reality ◽  
Real Time ◽  
Robotic Arm ◽  
Input Device ◽  
Robot Assisted ◽  
Promising Alternative ◽  
Input Devices ◽  
Current Input ◽  
Current Systems ◽  
Robot Assisted Surgery

AbstractAccess to systems for robot-assisted surgery is limited due to high costs. To enable widespread use, numerous issues have to be addressed to improve and/or simplify their components. Current systems commonly use universal linkage-based input devices, and only a few applicationoriented and specialized designs are used. A versatile virtual reality controller is proposed as an alternative input device for the control of a seven degree of freedom articulated robotic arm. The real-time capabilities of the setup, replicating a system for robot-assisted teleoperated surgery, are investigated to assess suitability. Image-based assessment showed a considerable system latency of 81.7 ± 27.7 ms. However, due to its versatility, the virtual reality controller is a promising alternative to current input devices for research around medical telemanipulation systems.

scholarly journals Physically Based Soap Bubble Synthesis for VR

2021 ◽  
Vol 11 (7) ◽  
pp. 3090
Author(s):  
Sangwook Yoo ◽  
Cheongho Lee ◽  
Seongah Chin
Keyword(s):  
Virtual Reality ◽  
Virtual Space ◽  
Soap Bubble ◽  
Temporal Constraints ◽  
High Expectations ◽  
Soap Bubbles ◽  
Physical Motion ◽  
Head Mounted Display ◽  
Interesting Topic ◽  
Physically Based

To experience a real soap bubble show, materials and tools are required, as are skilled performers who produce the show. However, in a virtual space where spatial and temporal constraints do not exist, bubble art can be performed without real materials and tools to give a sense of immersion. For this, the realistic expression of soap bubbles is an interesting topic for virtual reality (VR). However, the current performance of VR soap bubbles is not satisfying the high expectations of users. Therefore, in this study, we propose a physically based approach for reproducing the shape of the bubble by calculating the measured parameters required for bubble modeling and the physical motion of bubbles. In addition, we applied the change in the flow of the surface of the soap bubble measured in practice to the VR rendering. To improve users’ VR experience, we propose that they should experience a bubble show in a VR HMD (Head Mounted Display) environment.

scholarly journals Gamification and Hazard Communication in Virtual Reality: A Qualitative Study

Sensors ◽  
2021 ◽  
Vol 21 (14) ◽  
pp. 4663
Author(s):  
Janaina Cavalcanti ◽  
Victor Valls ◽  
Manuel Contero ◽  
David Fonseca
Keyword(s):  
Virtual Reality ◽  
New Technologies ◽  
Training Environment ◽  
Hazard Communication ◽  
Head Mounted Display ◽  
Compliance Behavior ◽  
Before And After ◽  
Recorded Data ◽  
The Impact ◽  
Different Levels

An effective warning attracts attention, elicits knowledge, and enables compliance behavior. Game mechanics, which are directly linked to human desires, stand out as training, evaluation, and improvement tools. Immersive virtual reality (VR) facilitates training without risk to participants, evaluates the impact of an incorrect action/decision, and creates a smart training environment. The present study analyzes the user experience in a gamified virtual environment of risks using the HTC Vive head-mounted display. The game was developed in the Unreal game engine and consisted of a walk-through maze composed of evident dangers and different signaling variables while user action data were recorded. To demonstrate which aspects provide better interaction, experience, perception and memory, three different warning configurations (dynamic, static and smart) and two different levels of danger (low and high) were presented. To properly assess the impact of the experience, we conducted a survey about personality and knowledge before and after using the game. We proceeded with the qualitative approach by using questions in a bipolar laddering assessment that was compared with the recorded data during the game. The findings indicate that when users are engaged in VR, they tend to test the consequences of their actions rather than maintaining safety. The results also reveal that textual signal variables are not accessed when users are faced with the stress factor of time. Progress is needed in implementing new technologies for warnings and advance notifications to improve the evaluation of human behavior in virtual environments of high-risk surroundings.

scholarly journals Assessment of Wheelchair Propulsion Performance in an Immersive Virtual Reality Simulator

2021 ◽  
Vol 18 (15) ◽  
pp. 8016
Author(s):  
Yu-Sheng Yang ◽  
Alicia M. Koontz ◽  
Yu-Hsuan Hsiao ◽  
Cheng-Tang Pan ◽  
Jyh-Jong Chang
Keyword(s):  
Virtual Reality ◽  
Spinal Cord Injuries ◽  
Qualitative Interviews ◽  
Real Life ◽  
Structured Interview ◽  
Wheelchair Propulsion ◽  
Subjective Data ◽  
Wheelchair Users ◽  
Head Mounted Display ◽  
Propulsion Performance

Maneuvering a wheelchair is an important necessity for the everyday life and social activities of people with a range of physical disabilities. However, in real life, wheelchair users face several common challenges: articulate steering, spatial relationships, and negotiating obstacles. Therefore, our research group has developed a head-mounted display (HMD)-based intuitive virtual reality (VR) stimulator for wheelchair propulsion. The aim of this study was to investigate the feasibility and efficacy of this VR stimulator for wheelchair propulsion performance. Twenty manual wheelchair users (16 men and 4 women) with spinal cord injuries ranging from T8 to L2 participated in this study. The differences in wheelchair propulsion kinematics between immersive and non-immersive VR environments were assessed using a 3D motion analysis system. Subjective data of the HMD-based intuitive VR stimulator were collected with a Presence Questionnaire and individual semi-structured interview at the end of the trial. Results indicated that propulsion performance was very similar in terms of start angle (p = 0.34), end angle (p = 0.46), stroke angle (p = 0.76), and shoulder movement (p = 0.66) between immersive and non-immersive VR environments. In the VR episode featuring an uphill journey, an increase in propulsion speed (p < 0.01) and cadence (p < 0.01) were found, as well as a greater trunk forward inclination (p = 0.01). Qualitative interviews showed that this VR simulator made an attractive, novel impression and therefore demonstrated the potential as a tool for stimulating training motivation. This HMD-based intuitive VR stimulator can be an effective resource to enhance wheelchair maneuverability experiences.

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