International audienceWe aim at addressing in this paper the issue of non-verbal communication involved in a human-robot interaction. We first propose a taxonomy of assistance that an operator may expect from a partner during a long object manipulation task. Then, this paper presents a method to detect which kind of robot assistance is needed, thanks to the decoding of haptic cues conveyed by the operator. An experimental study on thirty subjects moving a long object together with a robot that is providing an assistance is introduced. A statistical analysis highlights the relationships between haptic measures and intentions of motion. This analysis shows that wrench measurements constitute an incomplete information to detect the operator's intention of motion
Industrials are starting to deploy interactive robots as new solutions to improve workstations. In particular, workstations where human operators may get injured because of repetitive tasks, bad postures or heavy loads are targeted. The introduction of such interactive systems on industrial workstations brings new challenges concerning human cognitive and physical considerations to factories. We followed an approach involving operators, and ergonomics and cognitive engineering skills to improve the introduction of interactive robots in the industry. In this paper, we present the first application of our work on a pyrotechnic tank cleaning workstation. Our approach is illustrated with the design of a solution through several simulation steps involving the workstation's operators. Finally, the design of a prototype based on a teleoperated robot is introduced.
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