A skill-based approach towards hybrid assembly

Wallhoff, Frank; Blume, Jürgen; Bannat, Alexander; Rösel, Wolfgang; Lenz, Claus; Knoll, Alois

doi:10.1016/j.aei.2010.05.013

Cited by 37 publications

(19 citation statements)

References 30 publications

(26 reference statements)

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“…However, this configuration method has profoundly restricted the performance of the robot and lowered collaboration levels. Another platform called 'joint-action for humans and industrial robots' (JAHIR, within the CoTeSys Project) is introduced in [15]. JAHIR focuses on monitoring the status of human workers and the assembly work-flow.…”

Section: Introductionmentioning

confidence: 99%

Hand Gesture Modeling and Recognition for Human and Robot Interactive Assembly Using Hidden Markov Models

Chen

Zhong

Cannella

et al. 2015

International Journal of Advanced Robotic Systems

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Gesture recognition is essential for human and robot collaboration. Within an industrial hybrid assembly cell, the performance of such a system significantly affects the safety of human workers. This work presents an approach to recognizing hand gestures accurately during an assembly task while in collaboration with a robot co-worker. We have designed and developed a sensor system for measuring natural human-robot interactions. The position and rotation information of a human worker's hands and fingertips are tracked in 3D space while completing a task. A modified chain-code method is proposed to describe the motion trajectory of the measured hands and fingertips. The Hidden Markov Model (HMM) method is adopted to recognize patterns via data streams and identify workers' gesture patterns and assembly intentions. The effectiveness of the proposed system is verified by experimental results. The outcome demonstrates that the proposed system is able to automatically segment the data streams and recognize the gesture patterns thus represented with a reasonable accuracy ratio.

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Section: Introductionmentioning

confidence: 99%

Hand Gesture Modeling and Recognition for Human and Robot Interactive Assembly Using Hidden Markov Models

Chen

Zhong

Cannella

et al. 2015

International Journal of Advanced Robotic Systems

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“…The human-robot collaboration experiment was performed on the robotic platform JAHIR (Joint-Action for Humans and Industrial Robots) [16], [13], [17]. JAHIR is a hybrid assembly system [3], [4] created and embedded in a Cognitive Factory scenario [18] in order to bring human and robotic co-worker closely together in a common workspace for collaborative applications.…”

Section: Experimental Set-upmentioning

confidence: 99%

Increasing efficiency in robot-supported assemblies through predictive mechanisms: An experimental evaluation

et al. 2013

Self Cite

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The presented work focuses on investigating the influence of different hand-over timing strategies on the fluency and efficiency of a human-robot team in an assembly task.To this aim, four different timing strategies were experimentally evaluated: (I) a fixed time interval between two handovers, (II) a reactive behavior, where the robot is triggered by the human, (III) fixed time intervals depending on the current component, and (IV) a predictive assembly duration estimation algorithm. During the experiment, the time-to-completion of the task and the waiting times for human and robot were measured as reciprocal indication for the efficiency and respectively the fluency of the team.The results indicate that the efficiency of the human-robot team is significantly increased using a predictive timing strategy, because it enables the robot to provide the needed component just-in-time. The decrease in waiting times for the human worker leads to improved fluency of the collaboration. In addition, the predictive strategy enables the robot to perform preliminary tasks if no assistance is needed. Therefore, a nearly full usage of both partners' capacities can be reached.

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“…There are several empirical studies on HRI or CWEs, or just on human interaction with automated systems [31,60,79,90]. What seems new in these studies is the call for considering the ethical and legal dimensions of technology, which, however, very often does not seem to be related to the organizational framework of the specific contexts.…”

Section: Social Aspects Of Hri: New Concepts?mentioning

confidence: 99%

Robots Working with Humans or Humans Working with Robots? Searching for Social Dimensions in New Human-Robot Interaction in Industry

2016

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Abstract:The focus of the following article is on the use of new robotic systems in the manufacturing industry with respect to the social dimension. Since "intuitive" human-machine interaction (HMI) in robotic systems becomes a significant objective of technical progress, new models of work organization are needed. This hypothesis will be investigated through the following two aims: The first aim is to identify relevant research questions related to the potential use of robotic systems in different systems of work organization at the manufacturing shop-floor level. The second aim is to discuss the conceptualization of (old) organizational problems of human-robot interaction (HRI). In this context, the article reflects on the limits of cognitive and perceptual workload for robot operators in complex working systems. This will be particularly relevant whenever more robots with different "roles" are to be increasingly used in the manufacturing industry. The integration of such complex socio-technical systems needs further empirical and conceptual research with regard to "social" aspects of the technical dimension. Future research should, therefore, also integrate economic and societal issues to understand the full dimensions of new human-robot interaction in industry today.

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A skill-based approach towards hybrid assembly

Cited by 37 publications

References 30 publications

Hand Gesture Modeling and Recognition for Human and Robot Interactive Assembly Using Hidden Markov Models

Hand Gesture Modeling and Recognition for Human and Robot Interactive Assembly Using Hidden Markov Models

Increasing efficiency in robot-supported assemblies through predictive mechanisms: An experimental evaluation

Robots Working with Humans or Humans Working with Robots? Searching for Social Dimensions in New Human-Robot Interaction in Industry

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