• Corpus ID: 237581689

Enhancing Flexibility and Adaptability in Conjoined Human-Robot Industrial Tasks with a Minimalist Physical Interface

@inproceedings{Gandarias2021EnhancingFA,
  title={Enhancing Flexibility and Adaptability in Conjoined Human-Robot Industrial Tasks with a Minimalist Physical Interface},
  author={Juan M. Gandarias and Pietro Balatti and Edoardo Lamon and Marta Lorenzini and Arash Ajoudani},
  year={2021}
}
This paper presents a physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which an operator could be physically coupled to a mobile manipulator to be assisted in performing daily activities. The previous interface was based on a magnetic clamp attached to one arm of the user for the coupling stage, and a bracelet based on EMG sensors on the other arm for human-robot… 

Figures and Tables from this paper

References

SHOWING 1-10 OF 18 REFERENCES
Upper-Limb Kinematic Parameter Estimation and Localization Using a Compliant Robotic Manipulator
TLDR
This paper addresses the upper-limb manipulation challenge and proposes a pose estimation method using a compliant robotic manipulator, which can be used in several rehabilitation robotic applications.
A Visuo-Haptic Guidance Interface for Mobile Collaborative Robotic Assistant (MOCA)
TLDR
The proposed visuo-haptic guidance interface is validated experimentally, where a human-guided robot performs the loading and transportation of a heavy object in a cluttered workspace, illustrating the potential of the proposed Follow-Me interface in removing the external loading from the human body in this type of repetitive industrial tasks.
MOCA-MAN: A MObile and reconfigurable Collaborative Robot Assistant for conjoined huMAN-robot actions
TLDR
A collaborative robot that can function autonomously, in close proximity to humans, or be physically coupled to the human counterpart as a supernumerary body (MOCA-MAN), which has a high potential not only to reduce waste associated with the equipment waiting and setup times, but also to mitigate the human effort when performing heavy or prolonged manipulation tasks.
Smart Collaborative Systems for Enabling Flexible and Ergonomic Work Practices [Industry Activities]
The manufacturing industry is among the top wealthgenerating sectors of the global economy and accounted for 15.3% and 10%, respectively, of the total European and American workforce in 2018 [1],
Towards an Intelligent Collaborative Robotic System for Mixed Case Palletizing
TLDR
The results show that the optimised placement can improve up to the 20% with respect to a manual execution of the same task, and reveal the high potential of MOCA in increasing the performance of collaborative palletizing tasks.
A Teleoperation Interface for Loco-Manipulation Control of Mobile Collaborative Robotic Assistant
TLDR
A sequence of challenging actions, i.e., navigation, door opening, and wall drilling, has been considered in the experimental setup to evaluate the performance of the proposed teleoperation interface in the execution of remote tasks with dynamic uncertainties.
Adaptable Workstations for Human-Robot Collaboration: A Reconfigurable Framework for Improving Worker Ergonomics and Productivity
TLDR
Developing reconfigurable human-robot collaboration (HRC) workstations and frameworks is key to enabling agile manufacturing, by merging the dexterity, flexibility, and problem-solving ability of humans with the strength and precision of robotics.
Progress and prospects of the human–robot collaboration
TLDR
The main purpose of this paper is to review the state-of-the-art on intermediate human–robot interfaces (bi-directional), robot control modalities, system stability, benchmarking and relevant use cases, and to extend views on the required future developments in the realm of human-robot collaboration.
Wearing your arm on your sleeve: Studying usage contexts for a wearable robotic forearm
  • Vighnesh Vatsal, Guy Hoffman
  • Computer Science
    2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)
  • 2017
TLDR
The design of a wearable robotic forearm that provides the user with an assistive third hand is presented, along with a study of interaction scenarios for the design, and three usability studies are described.
...
1
2
...