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

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.

scholarly journals GazeEMD: Detecting Visual Intention in Gaze-Based Human-Robot Interaction

Robotics ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 68
Author(s):  
Lei Shi ◽  
Cosmin Copot ◽  
Steve Vanlanduit
Keyword(s):  
Cognitive Load ◽  
Real World ◽  
Robotic Manipulator ◽  
Similarity Score ◽  
Human Robot Interaction ◽  
Experimental Results ◽  
The Other ◽  
Robot Interaction ◽  
Run Length ◽  
The Real

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.

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

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.

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

2017 ◽  
Vol 9 (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.

scholarly journals On the Integration of Adaptive and Interactive Robotic Smart Spaces

2015 ◽  
Vol 6 (1) ◽  
Author(s):  
Mauro Dragone ◽  
Joe Saunders ◽  
Kerstin Dautenhahn
Keyword(s):  
Intelligent Systems ◽  
Human Robot Interaction ◽  
Smart Spaces ◽  
Robotic Approach ◽  
Robot Interaction ◽  
Limited Degree ◽  
The One ◽  
New Generation ◽  
Social Robotic ◽  
Robotic Applications

AbstractEnabling robots to seamlessly operate as part of smart spaces is an important and extended challenge for robotics R&D and a key enabler for a range of advanced robotic applications, such as AmbientAssisted Living (AAL) and home automation. The integration of these technologies is currently being pursued from two largely distinct view-points: On the one hand, people-centred initiatives focus on improving the user’s acceptance by tackling human-robot interaction (HRI) issues, often adopting a social robotic approach, and by giving to the designer and - in a limited degree – to the final user(s), control on personalization and product customisation features. On the other hand, technologically-driven initiatives are building impersonal but intelligent systems that are able to pro-actively and autonomously adapt their operations to fit changing requirements and evolving users’ needs, but which largely ignore and do not leverage human-robot interaction and may thus lead to poor user experience and user acceptance. In order to inform the development of a new generation of smart robotic spaces, this paper analyses and compares different research strands with a view to proposing possible integrated solutions with both advanced HRI and online adaptation capabilities.

Human-robot interaction for robotic manipulator programming in Mixed Reality

2020 ◽  
Author(s):  
Mikhail Ostanin ◽  
Stanislav Mikhel ◽  
Alexey Evlampiev ◽  
Valeria Skvortsova ◽  
Alexandr Klimchik
Keyword(s):  
Mixed Reality ◽  
Robotic Manipulator ◽  
Human Robot Interaction ◽  
Robot Interaction

scholarly journals Generating Robotic Speech Prosody for Human Robot Interaction: A Preliminary Study

2021 ◽  
Vol 11 (8) ◽  
pp. 3468
Author(s):  
Jaeryoung Lee
Keyword(s):  
Humanoid Robot ◽  
The Elderly ◽  
Human Robot Interaction ◽  
Emotional States ◽  
Emotional Prosody ◽  
Specific Group ◽  
Robot Interaction ◽  
Speech Prosody ◽  
Preliminary Study ◽  
Robotic Applications

The use of affective speech in robotic applications has increased in recent years, especially regarding the developments or studies of emotional prosody for a specific group of people. The current work proposes a prosody-based communication system that considers the limited parameters found in speech recognition for the elderly, for example. This work explored what types of voices were more effective for understanding presented information, and if the affects of robot voices reflected on the emotional states of listeners. By using functions of a small humanoid robot, two different experiments conducted to find out comprehension level and the affective reflection respectively. University students participated in both tests. The results showed that affective voices helped the users understand the information, as well as that they felt corresponding negative emotions in conversations with negative voices.

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