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Visuo-tactile Mixed Reality for Offline Cobot Programming

Published: 01 April 2020 Publication History

Abstract

Manual guidance of a collaborative robot arm (i.e., moving the robot arm by hand) is a technique to program the robot without coding and in the context of the job. However, it requires the robot to be available and not in operation. As a workaround, we propose performing manual guidance on a hologram of that same robot, the feasibility of which we are investigating. A potential limitation of this approach is the lack of tangibility of the hologram, for which we are investigating the contribution that mid-air haptics (MAH) can make. Early results suggest beneficial effects from tactile feedback on AR pick-and-place.

References

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Johan Kildal, Alberto Tellaeche, Izaskun Fernández, and Iñaki Maurtua. 2018. Potential users' key concerns and expectations for the adoption of cobots. Procedia CIRP, Vol. 72 (2018), 21 -- 26. https://doi.org/10.1016/j.procir.2018.03.104 51st CIRP Conference on Manufacturing Systems.
[2]
Benjamin Long, Sue Ann Seah, Tom Carter, and Sriram Subramanian. 2014. Rendering Volumetric Haptic Shapes in Mid-air Using Ultrasound. ACM Trans. Graph., Vol. 33, 6, Article 181 (Nov. 2014), bibinfonumpages10 pages. https://doi.org/10.1145/2661229.2661257
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Matthew B Luebbers, Connor Brooks, Minjae John Kim, Daniel Szafir, and Bradley Hayes. 2019. Augmented Reality Interface for Constrained Learning from Demonstration. In Proceedings of the 2nd International Workshop on Virtual, Augmented, and Mixed Reality for HRI (VAM-HRI) .
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Daniele Massa, Massimo Callegari, and C. Cristalli. 2015. Manual guidance for industrial robot programming. Industrial Robot: An International Journal, Vol. 42 (08 2015), 457--465. https://doi.org/10.1108/IR-11--2014-0413
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D. Ni, A. W. W. Yew, S. K. Ong, and A. Y. C. Nee. 2017. Haptic and visual augmented reality interface for programming welding robots. Advances in Manufacturing, Vol. 5, 3 (01 Sep 2017), 191--198. https://doi.org/10.1007/s40436-017-0184--7
[6]
David Puljiz, Erik Stöhr, Katharina S Riesterer, Björn Hein, and Torsten Kröger. 2019. Sensorless Hand Guidance using Microsoft Hololens. In 2019 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI). IEEE, 632--633.

Cited By

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  • (2022)A Haptic Multimodal Interface with Abstract Controls for Semi-Autonomous Manipulation2022 17th ACM/IEEE International Conference on Human-Robot Interaction (HRI)10.1109/HRI53351.2022.9889349(1206-1207)Online publication date: 7-Mar-2022
  • (2022)Digital Twins in Human-Computer Interaction: A Systematic ReviewInternational Journal of Human–Computer Interaction10.1080/10447318.2022.211818940:2(79-97)Online publication date: 9-Sep-2022
  • (2020)Multimodal Mixed Reality Impact on a Hand Guiding Task with a Holographic CobotMultimodal Technologies and Interaction10.3390/mti40400784:4(78)Online publication date: 31-Oct-2020

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cover image ACM Conferences
HRI '20: Companion of the 2020 ACM/IEEE International Conference on Human-Robot Interaction
March 2020
702 pages
ISBN:9781450370578
DOI:10.1145/3371382
Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for third-party components of this work must be honored. For all other uses, contact the Owner/Author.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 01 April 2020

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Author Tags

  1. augmented reality
  2. cobot
  3. hologram
  4. human-robot interaction
  5. mid-air haptics

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Cited By

View all
  • (2022)A Haptic Multimodal Interface with Abstract Controls for Semi-Autonomous Manipulation2022 17th ACM/IEEE International Conference on Human-Robot Interaction (HRI)10.1109/HRI53351.2022.9889349(1206-1207)Online publication date: 7-Mar-2022
  • (2022)Digital Twins in Human-Computer Interaction: A Systematic ReviewInternational Journal of Human–Computer Interaction10.1080/10447318.2022.211818940:2(79-97)Online publication date: 9-Sep-2022
  • (2020)Multimodal Mixed Reality Impact on a Hand Guiding Task with a Holographic CobotMultimodal Technologies and Interaction10.3390/mti40400784:4(78)Online publication date: 31-Oct-2020

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