<title>Control of man-machine system for dexterous manipulation</title>

This paper presents the design and calibration of a new force/tactile sensor for robotic applications. The sensor is suitably designed to provide the robotic grasping device with a sensory system mimicking the human sense of touch, namely, a device sensitive to contact forces, object slip and object geometry. This type of perception information is of paramount importance not only in dexterous manipulation but even in simple grasping tasks, especially when objects are fragile, such that only a minimum amount of grasping force can be applied to hold the object without damaging it. Moreover, sensing only forces and not moments can be very limiting to securely grasp an object when it is grasped far from its center of gravity. Therefore, the perception of torsional moments is a key requirement of the designed sensor. Furthermore, the sensor is also the mechanical interface between the gripper and the manipulated object, therefore its design should consider also the requirements for a correct holding of the object. The most relevant of such requirements is the necessity to hold a torsional moment, therefore a soft distributed contact is necessary. The presence of a soft contact poses a number of challenges in the calibration of the sensor, and that is another contribution of this work. Experimental validation is provided in real grasping tasks with two sensors mounted on an industrial gripper.

Download Full-text

Overall strategy for fabric folding machine system control

The International Journal of Advanced Manufacturing Technology ◽

10.1007/s00170-005-0300-x ◽

2006 ◽

Vol 31 (11-12) ◽

pp. 1198-1208 ◽

Cited By ~ 5

Author(s):

Chung-Feng Jeffrey Kuo ◽

Cheng-Chih Tsai

Keyword(s):

System Control ◽

Machine System

Download Full-text

Predicting Graceful Extensibility of Human-Machine Systems: A New Analysis Method for Evaluating Extensibility Plots to Anticipate Distributed System Performance

Proceedings of the Human Factors and Ergonomics Society Annual Meeting ◽

10.1177/1071181320641072 ◽

2020 ◽

Vol 64 (1) ◽

pp. 313-318

Author(s):

Dane A. Morey ◽

Jesse M. Marquisee ◽

Ryan C. Gifford ◽

Morgan C. Fitzgerald ◽

Michael F. Rayo

Keyword(s):

Artificial Intelligence ◽

Distributed System ◽

System Performance ◽

Healthcare Setting ◽

Evaluation Methods ◽

Performance Data ◽

Analysis Method ◽

Machine System ◽

Machine Systems

With all of the research and investment dedicated to artificial intelligence and other automation technologies, there is a paucity of evaluation methods for how these technologies integrate into effective joint human-machine teams. Current evaluation methods, which largely were designed to measure performance of discrete representative tasks, provide little information about how the system will perform when operating outside the bounds of the evaluation. We are exploring a method of generating Extensibility Plots, which predicts the ability of the human-machine system to respond to classes of challenges at intensities both within and outside of what was tested. In this paper we test and explore the method, using performance data collected from a healthcare setting in which a machine and nurse jointly detect signs of patient decompensation. We explore the validity and usefulness of these curves to predict the graceful extensibility of the system.

Download Full-text

Cognitive Interaction Analysis in Human–Robot Collaboration Using an Assembly Task

Electronics ◽

10.3390/electronics10111317 ◽

2021 ◽

Vol 10 (11) ◽

pp. 1317

Author(s):

Alejandro Chacón ◽

Pere Ponsa ◽

Cecilio Angulo

Keyword(s):

Interaction Analysis ◽

Mental Workload ◽

Cognitive Task ◽

Physical Work ◽

Work Skills ◽

Dexterous Manipulation ◽

Assembly Task ◽

Cognitive Interaction ◽

Human Operators ◽

Assembly Tasks

In human–robot collaborative assembly tasks, it is necessary to properly balance skills to maximize productivity. Human operators can contribute with their abilities in dexterous manipulation, reasoning and problem solving, but a bounded workload (cognitive, physical, and timing) should be assigned for the task. Collaborative robots can provide accurate, quick and precise physical work skills, but they have constrained cognitive interaction capacity and low dexterous ability. In this work, an experimental setup is introduced in the form of a laboratory case study in which the task performance of the human–robot team and the mental workload of the humans are analyzed for an assembly task. We demonstrate that an operator working on a main high-demanding cognitive task can also comply with a secondary task (assembly) mainly developed for a robot asking for some cognitive and dexterous human capacities producing a very low impact on the primary task. In this form, skills are well balanced, and the operator is satisfied with the working conditions.

Download Full-text

Compatibility as guiding principle for ergonomics work design and preventive occupational health and safety

Zeitschrift für Arbeitswissenschaft ◽

10.1007/s41449-021-00243-0 ◽

2021 ◽

Author(s):

Helmut Strasser

Keyword(s):

Occupational Health ◽

System Performance ◽

Occupational Diseases ◽

Health And Safety ◽

Occupational Health And Safety ◽

Well Being ◽

Work Design ◽

Human Organism ◽

Machine System ◽

Human Capacity

AbstractMutual adaptation and inter-changeability of system elements are very important prerequisites for machines, technical devices and products. Similar to that technical compatibility which can be achieved by standards and regulations, optimum design of human-oriented workplaces or a man-machine system cannot be attained without, e.g., a compatible arrangement of connected displays and controls. Over and above those stimulus/response relations, all technical elements and interfaces have to be designed in such a way that they do not exceed human capacity in order to optimize human well-being and overall system performance. Compatibility between the properties of the human organism on the one hand, and the adaptable technical components of a work system on the other hand, offers a great potential of preventive measures. Examples of ergonomically designed working tools show that compatibility is capable of reducing the prevalence of occupational diseases and repetitive strain injuries as well as leading to lower physiological cost in such a way that the same output results from a lower demand of human resources or even a higher performance will be attained. Compatibility also supports the quick perception and transmission of information in a man-machine system, and as a result of lower requirements for decoding during information processing, spare mental capacity may enhance occupational safety. In the field of software, compatibility also helps to avoid psychological frustration. All in all, the center core competency, which reflects the major significant function of the ergonomist in work design, consists in determining the compatibility of human capacity and planned or existing demands of work. In order to provide efficient working tools and working conditions as well as to be successful in occupational health and safety, ergonomics and industrial engineering in the future are expected to pay more attention to the rules of compatibility. Applied in an appropriate way, these rules may convince people that ergonomics can be a powerful means for reducing prevalence of occupational diseases and complaints, and has a positive effect on overall system performance. Besides presenting examples of work design according to the principle of compatibility, also methods will be shown which enable the assessment of the ergonomic quality of hand-held tools and computer input devices.

Download Full-text