Shared Haptic Perception for Human-Robot Collaboration

Katayama, Kazuki; Pozzi, María; Tanaka, Yoshihiro; Minamizawa, Kouta; Prattichizzo, Domenico

doi:10.1007/978-3-030-58147-3_59

Cited by 7 publications

(3 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Conventional machine learning (ML) techniques are mostly used to create mapping functions to link human physical capacities to HRC design, such as mapping human actions as robot input using support vector machines (SCM) [59]. In order to build the connections between humans and robots, existing HRC research has proposed many ideas that link hu-man physical capabilities (e.g., vision, voice, motion, haptic) to the computational paradigm of robot design.…”

Section: A Machine Learningmentioning

confidence: 99%

Purposeful Communication in Human–Robot Collaboration: A Review of Modern Approaches in Manufacturing

2022

View full text Add to dashboard Cite

The uncertainties arising from the imperfection of the shared understanding during humanrobot collaboration (HRC) is a critical challenge in developing real-world robots, which has attracted attention in various fields, especially in the manufacturing sector. Many research efforts have explored several key components and elements of HRC to reduce uncertainties. However, these efforts are mostly isolated from each other and few attempts have been made to develop generic frameworks to combine them for better HRC frameworks. This article contributes to this issue by reviewing the components of HRC research and developing a generic framework of purposeful communication to better arrive at a common view of uncertainties and collaboratively deal with those required by the tasks at hand holistically. The aspects of HRC components that can affect the shared understanding of humans and robots include the type of collaborative task, communication modalities, and decision-making of robots. After examining these aspects, we re-positioned the central problem to the cause of these uncertainties and proposed a new categorization of the available HRC scenarios considering communication channels, because communication strategies should be the main focus for reducing these uncertainties. This categorization will help to design better HRC frameworks that will lead to improving shared understanding and task performance, reducing uncertainties, and establishing trust, transparency, and safety. This paper proposes a comprehensive literature review and a new categorization of the currently used communication approaches by analyzing forty-nine selected articles from a wide range of articles in various databases.

show abstract

Section: A Machine Learningmentioning

confidence: 99%

Purposeful Communication in Human–Robot Collaboration: A Review of Modern Approaches in Manufacturing

2022

View full text Add to dashboard Cite

show abstract

“…operator awareness in collaborative assembly [28,29], and command acknowledgement for the control of wearable robots [30].…”

Section: Related Workmentioning

confidence: 99%

Flexible scheduling and tactile communication for human–robot collaboration

Maderna

Pozzi

Zanchettin

et al. 2022

Robotics and Computer-Integrated Manufacturing

View full text Add to dashboard Cite

“…On the other hand, the operator must be informed about the robot activity and the task state. This can be achieved, for example, through the use of suitable interfaces for alerting the user in critical phases of the task (Katayama et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

Detachable Robotic Grippers for Human-Robot Collaboration

et al. 2021

Self Cite

View full text Add to dashboard Cite

Collaborative robots promise to add flexibility to production cells thanks to the fact that they can work not only close to humans but also with humans. The possibility of a direct physical interaction between humans and robots allows to perform operations that were inconceivable with industrial robots. Collaborative soft grippers have been recently introduced to extend this possibility beyond the robot end-effector, making humans able to directly act on robotic hands. In this work, we propose to exploit collaborative grippers in a novel paradigm in which these devices can be easily attached and detached from the robot arm and used also independently from it. This is possible only with self-powered hands, that are still quite uncommon in the market. In the presented paradigm not only hands can be attached/detached to/from the robot end-effector as if they were simple tools, but they can also remain active and fully functional after detachment. This ensures all the advantages brought in by tool changers, that allow for quick and possibly automatic tool exchange at the robot end-effector, but also gives the possibility of using the hand capabilities and degrees of freedom without the need of an arm or of external power supplies. In this paper, the concept of detachable robotic grippers is introduced and demonstrated through two illustrative tasks conducted with a new tool changer designed for collaborative grippers. The novel tool changer embeds electromagnets that are used to add safety during attach/detach operations. The activation of the electromagnets is controlled through a wearable interface capable of providing tactile feedback. The usability of the system is confirmed by the evaluations of 12 users.

show abstract

Shared Haptic Perception for Human-Robot Collaboration

Cited by 7 publications

References 10 publications

Purposeful Communication in Human–Robot Collaboration: A Review of Modern Approaches in Manufacturing

Purposeful Communication in Human–Robot Collaboration: A Review of Modern Approaches in Manufacturing

Flexible scheduling and tactile communication for human–robot collaboration

Detachable Robotic Grippers for Human-Robot Collaboration

Contact Info

Product

Resources

About