In the context of industrial production, a worker that wants to program a robot using the hand-guidance technique needs that the robot is available to be programmed and not in operation. This means that production with that robot is stopped during that time. A way around this constraint is to perform the same manual guidance steps on a holographic representation of the digital twin of the robot, using augmented reality technologies. However, this presents the limitation of a lack of tangibility of the visual holograms that the user tries to grab. We present an interface in which some of the tangibility is provided through ultrasound-based mid-air haptics actuation. We report a user study that evaluates the impact that the presence of such haptic feedback may have on a pick-and-place task of the wrist of a holographic robot arm.

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Surface defect identification is an essential task in the industrial quality control process, in which visual checks are conducted on a manufactured product to ensure that it meets quality standards. Convolutional Neural Network (CNN) based surface defect identification method has proven to outperform traditional image processing techniques. However, the real-world surface defect datasets are limited in size due to the expensive data generation process and the rare occurrence of defects. To address this issue, this paper presents a method for exploiting auxiliary information beyond the primary labels to improve the generalization ability of surface defect identification tasks. Considering the correlation between pixel level segmentation masks, object level bounding boxes and global image level classification labels, we argue that jointly learning features of the related tasks can improve the performance of surface defect identification tasks. This paper proposes a framework named Defect-Aux-Net, based on multi-task learning with attention mechanisms that exploit the rich additional information from related tasks with the goal of simultaneously improving robustness and accuracy of the CNN based surface defect identification. We conducted a series of experiments with the proposed framework. The experimental results showed that the proposed method can significantly improve the performance of state-of-theart models while achieving an overall accuracy of 97.1%, Dice score of 0.926 and mAP of 0.762 on defect classification, segmentation and detection tasks.