Improving human robot collaboration through Force/Torque based learning for object manipulation

Al-Yacoub, Ali; Zhao, Yuchen; Eaton, William; Goh, Yee Mey; Lohse, Niels

doi:10.1016/j.rcim.2020.102111

Cited by 42 publications

(9 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Today industrial companies are confronted with the gradual onset of digitised processes to improve their competitiveness. Human-cobot collaboration is based on machine learning and human learning-based strategies (Al Yacoub et al, 2021). In creating ethical standards for the workplace, it is important to focus on harmonizing stochastic human behaviour and the adaptive process algorithm of cobots (Cheng et al, 2021).…”

Section: Introductionmentioning

confidence: 99%

Human and Cobot Cooperation Ethics: The Process Management Concept of the Production Workplace

Chromjaková¹,

Trentesaux²,

Kwarteng³

2021

JOC

View full text Add to dashboard Cite

The competitiveness of modern companies depends today on the ability to implement digitised technologies into production processes in human-friendly ways. The aim of this paper is to analyse ethical aspects of human-cobot cooperation in industrial production and to design a process standard aimed at ensuring an ethically stable cooperative workplace. The scientific contribution of this study lies in the identification and definition of standardized parameters of the ethics of the production process in the workplace. Based on the analysis of cooperative workplaces in 250 industrial companies, a code of ethics has been defined, i.e. a process standard that determines the navigation of the design by selected optimization criteria necessary for setting up a hybrid workplace defined as human and cobot (collaborative robot) with the support of digitised technologies. In the presented results and the final discussion attention is devoted to the need to radically change the philosophy of workplace standardization in the sense of equal access to workload settings by humans and robots. In the process of standardization, it is necessary to consider the difference in the standardization of human jobs and cobot jobs: the thinking process. In modern industrial companies the need has arisen to create working standards that take into account the adaptive ability of cobots and adapt the cobots’ workflow to human needs concerning performance and productivity. The presented results include recommendations for industrial companies to develop an ethical and stable production workplace based on an adequately defined form of cooperation.

show abstract

Section: Introductionmentioning

confidence: 99%

Human and Cobot Cooperation Ethics: The Process Management Concept of the Production Workplace

Chromjaková¹,

Trentesaux²,

Kwarteng³

2021

JOC

View full text Add to dashboard Cite

show abstract

“…Another essential aspect in the human-robot co-manipulation task is the interaction forces during the execution [49]. Hence, during the simulation, interaction forces based on a dynamical model of the load (5.0 kg) were estimated, and then physical metrics, such as the work and kinetic energy, were calculated as shown in Figure 12.…”

Section: Simulation Resultsmentioning

confidence: 99%

Data-Driven Modelling of Human-Human Co-Manipulation Using Force and Muscle Surface Electromyogram Activities

et al. 2021

Self Cite

View full text Add to dashboard Cite

With collaborative robots and the recent developments in manufacturing technologies, physical interactions between humans and robots represent a vital role in performing collaborative tasks. Most previous studies have focused on robot motion planning and control during the execution of the task. However, further research is required for direct physical contact for human-robot or robot-robot interactions, such as co-manipulation. In co-manipulation, a human operator manipulates a shared load with a robot through a semi-structured environment. In such scenarios, a multi-contact point with the environment during the task execution results in a convoluted force/toque signature that is difficult to interpret. Therefore, in this paper, a muscle activity sensor in the form of an electromyograph (EMG) is employed to improve the mapping between force/torque and displacements in co-manipulation tasks. A suitable mapping was identified by comparing the root mean square error amongst data-driven models, mathematical models, and hybrid models. Thus, a robot was shown to effectively and naturally perform the required co-manipulation with a human. This paper’s proposed hypotheses were validated using an unseen test dataset and a simulated co-manipulation experiment, which showed that the EMG and data-driven model improved the mapping of the force/torque features into displacements.

show abstract

“…An impedance controller is used to manage the MOCA and Finally, it is worthwhile mentioning that HRC can be improved by using learning-based approaches i.e., learning from demonstration (LfD) and RL. On the one hand, Al-Yacoub et al present in [140] a LfD methodology that combines a machine learning algorithm -i.e., Random Forest (RF)-with stochastic regression, using haptic information captured from human demonstration. On the other hand, Ghadirzadeh et al propose in [141] a RL based framework for a more time-efficient HR cooperation that finds an optimal balance between timely actions and the risk of taking improper actions.…”

Section: Efficiency-oriented Control System Designmentioning

confidence: 99%

“…Obviously, also these innovative advanced techniques present limitations, such as chattering and sensitive problems for the SMC and possible instabilities for fuzzy approaches. Although learning-based algorithms present these limitations, they have recently gained in popularity thanks to the ability to learn from demonstrations [140], high generalization performance, and capability to approximate an arbitrary function with adequate number of neurons.…”

Section: B Emerging Control Issues and Challengesmentioning

confidence: 99%

Control Techniques for Safe, Ergonomic, and Efficient Human-Robot Collaboration in the Digital Industry: A Survey

Proia

Carli

Cavone

et al. 2022

IEEE Trans. Automat. Sci. Eng.

View full text Add to dashboard Cite

The fourth industrial revolution, also known as Industry 4.0, is reshaping the way individuals live and work while providing a substantial influence on the manufacturing scenario.The key enabling technology that has made Industry 4.0 a concrete reality is without doubt collaborative robotics, which is also evolving as a fundamental pillar of the next revolution, the so-called Industry 5.0. The improvement of employees' safety and well-being, together with the increase of profitability and productivity, are indeed the main goals of human-robot collaboration (HRC) in the industrial setting. The robotic controller design and the analysis of existing decision and control techniques are crucially needed to develop innovative models and state-of-the-art methodologies for a safe, ergonomic, and efficient HRC. To this aim, this paper presents an accurate review of the most recent and relevant contributions to the related literature, focusing on the control perspective. All the surveyed works are carefully selected and categorized by target (i.e., safety, ergonomics, and efficiency), and then by problem and type of control, in presence or absence of optimization. Finally, the discussion of the achieved results and the analysis of the emerging challenges in this research field are reported, highlighting the identified gaps and the promising future developments in the context of the digital evolution.Note to Practitioners-The design and development of manufacturing systems are experiencing substantial changes towards full automation. This ongoing challenge is being tackled by academia and industrial practitioners with the adoption of collaborative robots, where the skills and peculiarities of humans (e.g., intelligence, creativity, adaptability, etc.) and robots (e.g., flexibility, pinpoint accuracy, tirelessness, etc.) are combined to better perform a variety of tasks. Nevertheless, due to their different characteristics, there is an emerging need for designing suitable decision and control techniques to ensure a safe and ergonomic HRC, while keeping the highest level of productivity. Against this background, the aim of this paper is to provide researchers and practitioners with a reference source in the related field, which can help them designing and developing suitable solutions to control problems in safe, ergonomic, and efficient collaborative robotics.

show abstract

Improving human robot collaboration through Force/Torque based learning for object manipulation

Cited by 42 publications

References 14 publications

Human and Cobot Cooperation Ethics: The Process Management Concept of the Production Workplace

Human and Cobot Cooperation Ethics: The Process Management Concept of the Production Workplace

Data-Driven Modelling of Human-Human Co-Manipulation Using Force and Muscle Surface Electromyogram Activities

Control Techniques for Safe, Ergonomic, and Efficient Human-Robot Collaboration in the Digital Industry: A Survey

Contact Info

Product

Resources

About