A Tangible Interface for Transferring Skills

Tommaso, Davide De; Calinon, Sylvain; Caldwell, Darwin G.

doi:10.1007/s12369-012-0154-y

Cited by 8 publications

(7 citation statements)

References 22 publications

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“…The virtual assets positioning may greatly affect the UI's effectiveness. Works in [52], [53] present two different approaches to find the best position for a projected AR interface for a human-robot collaborative task. In [52], the position and orientation of a human worker are continuously tracked and thus the system is able to project an AR interface in a position that is always visible from the user.…”

Section: B Robot Faultsmentioning

confidence: 99%

“…Works in [52], [53] present two different approaches to find the best position for a projected AR interface for a human-robot collaborative task. In [52], the position and orientation of a human worker are continuously tracked and thus the system is able to project an AR interface in a position that is always visible from the user. Conversely, Claassen et al [53] proposed a system capable of finding the most suitable planar surface to project an interactive AR interface to control a mobile industrial manipulator.…”

Section: B Robot Faultsmentioning

confidence: 99%

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An Augmented Reality System to Support Fault Visualization in Industrial Robotic Tasks

et al. 2019

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The digitalization is transforming the very nature of factories, from automated systems to intelligent ones. In this process, industrial robots play a key role. Even if repeatability, precision and velocity of the industrial manipulators enable reaching considerable production levels, factories are required to face an increasingly competitive market, which requires being able to dynamically adapt to different situations and conditions. Hence, facilities are moving toward systems that rely on the collaboration between humans and machines. Human workers should understand the behavior of the robots, placing trust in them to properly collaborate. If a fault occurs on a manipulator, its movements are suddenly stopped for security reasons, thus workers may not be able to understand what happened to the robot. Therefore, the operators' stress and anxiety may increase, compromising the human-robot collaborative scenario. This work fits in this context and it proposes an adaptive Augmented Reality system to display industrial robot faults by means of the Microsoft HoloLens device. Starting from the methodology employed to identify which virtual metaphors best evoke robot faults, an adaptive modality is presented to dynamically display the metaphors in positions close to the fault location, always visible from the user and not occluded by the manipulator. A comparison with a non adaptive modality is proposed to assess the effectiveness of the adaptive solution. Results show that the adaptive modality allows users to recognize faults faster and with fewer movements than the non adaptive one, thus overcoming the limitation of the narrow field-of-view of the HoloLens device.

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Section: B Robot Faultsmentioning

confidence: 99%

Section: B Robot Faultsmentioning

confidence: 99%

An Augmented Reality System to Support Fault Visualization in Industrial Robotic Tasks

et al. 2019

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“…Instead of stand-alone programming, dynamic bidirectional models of interaction are required, in which the robot (learner) actively acquires the task demonstrated by the user (teacher). Our recent studies have specifically addressed the issue of finding new user-friendly physical interfaces in order to reduce the complexity gap between humans and machines and to speed-up the skill transfer [16]. The aim of this paper is to discuss the novelty of the interface proposed in [16] and to present new developments in the experimental part.…”

Section: Introductionmentioning

confidence: 99%

“…Our recent studies have specifically addressed the issue of finding new user-friendly physical interfaces in order to reduce the complexity gap between humans and machines and to speed-up the skill transfer [16]. The aim of this paper is to discuss the novelty of the interface proposed in [16] and to present new developments in the experimental part. The proposed interface is designed to provide a visual augmented operating space shared between the learner and the teacher, as shown in the scheme in Fig.…”

Section: Introductionmentioning

confidence: 99%

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A Robotized Projective Interface for Human-Robot Learning Scenarios

Tommaso¹,

Calinon²,

Caldwell³

2012

Cybernetics and Information Technologies

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In this work we discuss a novel robotics interface with perception and projection capabilities for facilitating the skill transfer process. The interface aims at allowing humans and robots to interact with each other in the same environment, with respect to visual feedback. During the learning process, the real workspace can be used as a graphical interface for helping the user to better understand what the robot has learned up to then, to display information about the task or to get feedback and guidance. Thus, the user can incrementally visualize and assess the learner's state and, at the same time, focus on the skill transfer without disrupting the continuity of the teaching interaction. We also propose a proof-of-concept, as a core element of the architecture, based on an experimental setting where a picoprojector and an rgb-depth sensor are mounted onto the end-effector of a 7-DOF robotic arm.

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