Abstract
A human-robot cooperation workstation was developed and implemented as a platform for the examination of ergonomic design approaches and human-robot interaction in manual assembly. Various control modalities are being tested for this workstation, which enable a broad range of applications for human-robot interaction and control. These modalities include computer-generated control commands, gesture-based control using Myo Armbands, force-sensitive control by guiding the robot, motion tracking of the operator, and head-based gesture control using an Inertial Measurement Unit (IMU). The focus is on human-centered and ergonomic development of interaction patterns for these control modalities. This paper presents the multimodal interaction concept with the robot and allocates the presented modalities to suitable application areas.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Masinga, P., Campbell, H., Trimble, J.A.: A framework for human collaborative robots, operations in South African automotive industry. In: IEEM 2015: 2015 IEEE International Conference on Industrial Engineering and Engineering Management: 6–9, December 2015, pp. 1494–1497. Singapore. IEEE, Piscataway, NJ (2015)
Audi AG.: Human robot cooperation: KLARA facilitates greater diversity of versions in production at Audi, Ingolstadt (2017)
DIN.: EN ISO 10218-2: Robots and robotic devices - safety requirements for industrial robots - Part 2: Robot systems and integration (2012)
DIN.: EN ISO 10218-1: Robots and robotic devices - safety requirements for industrial robots - Part 1: Robots (2012)
DIN.: ISO/TS 15066 Robots and robotic devices - collaborative robots (2017)
Gong, Z., Zhang, Y.: Robot signaling its intentions in human-robot teaming. In: HRI Workshop on Explainable Robotic Systems (2018)
Schmidt, L., Herrmann, R., Hegenberg, J., et al.: Evaluation einer 3-D-Gestensteuerung für einen mobilen Serviceroboter. Zeitschrift für Arbeitswissenschaft 68(3), 129–134 (2014). https://doi.org/10.1007/BF03374438
Morais, G.D., Neves, L.C., Masiero, A.A., et al.: Application of Myo armband system to control a robot interface. In: Bahr, A., Abu Saleh, L., Schröder, D., et al. (eds.) Proceedings of the International Joint Conference on Biomedical Engineering Systems and Technologies CMOS Technology, pp. 227–231. Technische Universität Hamburg Universitätsbibliothek; SCITEPRESS - Science and Technology Publications Lda, Hamburg, Setúbal (2016)
Sathiyanarayanan, M., Mulling, T., Nazir, B.: Controlling a robot using a wearable device (MYO). In: Int. J. Eng. Dev. Res. (2015)
Sanna, A., Lamberti, F., Paravati, G., et al.: A Kinect-based natural interface for quadrotor control. Entertainment Comput. 4(3), 179–186 (2013). https://doi.org/10.1016/j.entcom.2013.01.001
Stowers, J., Hayes, M., Bainbridge-Smith, A.: Altitude control of a quadrotor helicopter using depth map from Microsoft Kinect sensor. In: Gokasan, M. (ed.) IEEE International Conference on Mechatronics (ICM), 2011: 13–15, April 2011, Istanbul, Turkey; proceedings, pp. 358–362. IEEE, Piscataway, NJ (2011)
Biao, M., Wensheng, X., Songlin, W.: A robot control system based on gesture recognition using Kinect. Indonesian J. Electr. Eng. Comput. Sci. 11(5) (2013). https://doi.org/10.11591/telkomnika.v11i5.2493
Cheng, L., Sun, Q., Su, H., et al.: Design and implementation of human-robot interactive demonstration system based on Kinect. In: 24th Chinese Control and Decision Conference (CCDC), 2012: 23–25, May 2012, pp. 971–975. Taiyuan, China. IEEE, Piscataway, NJ (2012)
Du, G., Zhang, P., Mai, J., et al.: Markerless Kinect-based hand tracking for robot teleoperation. Int. J. Adv. Rob. Syst. 9(2), 36 (2012). https://doi.org/10.5772/50093
Song, W., Guo, X., Jiang, F., et al.: Teleoperation humanoid robot control system based on Kinect sensor. In: 4th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2012: 26–27, Aug. 2012, pp. 264–267. Nanchang, Jiangxi, China. IEEE, Piscataway, NJ (2012)
Li, C., Yang, C., Wan, J., et al.: Teleoperation control of Baxter robot using Kalman filter-based sensor fusion. Syst. Sci. Control Eng. 5(1), 156–167 (2017). https://doi.org/10.1080/21642583.2017.1300109
Rudigkeit, N., Gebhard, M., Gräser, A.: Towards a user-friendly AHRS-based human-machine interface for a semi-autonomous robot. In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Assistive Robotics for Individuals with Disabilities: HRI Issues and Beyond (2014)
Jackowski, A., Gebhard, M., Graser, A.: A novel head gesture based interface for hands-free control of a robot. In: 2016 IEEE International Symposium on Medical Measurements and Applications, pp. 1–6. IEEE, Piscataway, NJ (2016)
Nelles, J., Kohns, S., Spies, J., et al.: Analysis of stress and strain in head based control of cooperative robots through tetraplegics. World Acad. Sci. Eng. Technol. Int. J. Med. Health, Biomed. Bioeng. Pharm. Eng. 11(1), 11–22
Nelles, J., Schmitz-Buhl, F., Spies, J., et al.: Altersdifferenzierte Evaluierung von Belastung und Beanspruchung bei der kopfbasierten Steuerung eines kooperierenden Roboters. In: Frühjahrskongress der Gesellschaft für Arbeitswissenschaft (2017)
Caccavale, R., Saveriano, M., Finzi, A., et al.: Kinesthetic teaching and attentional supervision of structured tasks in human–robot interaction. Auton. Robots 57(5), 469 (2018). https://doi.org/10.1007/s10514-018-9706-9
Ruffaldi, E., Di Fava, A., Loconsole, C., et al.: Vibrotactile feedback for aiding robot kinesthetic teaching of manipulation tasks. In: Human-robot collaboration and human assistance for an improved quality of life: IEEE RO-MAN 2017: 26th IEEE International Symposium on Robot and Human Interactive Communication, August 28-September 1, 2017, pp. 818–823. Lisbon, Portugal. IEEE, Piscataway, NJ (2017)
Kormushev, P., Calinon, S., Caldwell, D.G.: Imitation learning of positional and force skills demonstrated via kinesthetic teaching and haptic input. Adv. Robot. 25(5), 581–603 (2011). https://doi.org/10.1163/016918611X558261
Gammieri, L., Schumann, M., Pelliccia, L., et al.: Coupling of a redundant manipulator with a virtual reality environment to enhance human-robot cooperation. Procedia CIRP 62, 618–623 (2017). https://doi.org/10.1016/j.procir.2016.06.056
Lasota, P.A., Rossano, G.F., Shah, J.A.: Toward safe close-proximity human-robot interaction with standard industrial robots. In: IEEE International Conference on Automation Science and Engineering (CASE), 2014: 18–22, Aug. 2014, pp. 339–344. Taipei, Taiwan. IEEE, Piscataway, NJ (2014)
Acknowledgements
The authors would like to thank the German Research Founda-tion DFG for the kind support within the Cluster of Excellence “Internet of Production (ID 390621612)”.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Petruck, H. et al. (2020). Human-Robot Cooperation in Manual Assembly – Interaction Concepts for the Future Workplace. In: Chen, J. (eds) Advances in Human Factors in Robots and Unmanned Systems. AHFE 2019. Advances in Intelligent Systems and Computing, vol 962. Springer, Cham. https://doi.org/10.1007/978-3-030-20467-9_6
Download citation
DOI: https://doi.org/10.1007/978-3-030-20467-9_6
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-20466-2
Online ISBN: 978-3-030-20467-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)