MoveTouch: ウェアラブル触覚ディスプレイを備えたロボット動作計測システムによる安全なHRIの実現
MoveTouch: Robotic Motion Capturing System with Wearable Tactile Display to Achieve Safe HRI
手首に装着するウェアラブルロボットでマーカーを保持し動作計測と振動触覚フィードバックを行い、協働作業の安全性を高めるシステムを提案し、振動パターンの認識率と応答時間を評価した。
著者: Ali Alabbas, Miguel Altamirano Cabrera, Mohamed Sayed, Oussama Alyounes, Qian Liu, Dzmitry Tsetserukou
分類: cs.RO
原文アブストラクト
The collaborative robot market is flourishing as there is a trend towards simplification, modularity, and increased flexibility on the production line. But when humans and robots are collaborating in a shared environment, the safety of humans should be a priority. We introduce a novel wearable robotic system to enhance safety during Human-Robot Interaction (HRI). The proposed wearable robot is designed to hold a fiducial marker and maintain its visibility to a motion capture system, which, in turn, localizes the user's hand with good accuracy and low latency and provides vibrotactile feedback to the user's wrist. The vibrotactile feedback guides the user's hand movement during collaborative tasks in order to increase safety and enhance collaboration efficiency. A user study was conducted to assess the recognition and discriminability of ten designed vibration patterns applied to the upper (dorsal) and the down (volar) parts of the user's wrist. The results show that the pattern recognition rate on the volar side was higher, with an average of 75.64% among all users. Four patterns with a high recognition rate were chosen to be incorporated into our system. A second experiment was carried out to evaluate users' response to the chosen patterns in real-world collaborative tasks. Results show that all participants responded to the patterns correctly, and the average response time for the patterns was between 0.24 and 2.41 seconds.
