Cyber-physical-system for representing a robot end effector

Müller, Fabian; Deuerlein, Christian; Koch, Michael

doi:10.1016/j.procir.2021.05.071

Cited by 11 publications

(3 citation statements)

References 9 publications

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“…This section describes an offline programming method based on KT with a augmented reality representation of a robot. For more information on specific solutions, such as the hierarchy of object coordination systems or perception of components, see [35]. First, the functional principle of the method and the process flow are described.…”

Section: Offline Programming By Virtual Kinesthetic Teachingmentioning

confidence: 99%

User Study to Validate the Performance of an Offline Robot Programming Method That Enables Robot-Independent Kinesthetic Instruction through the Use of Augmented Reality and Motion Capturing

Müller,

Koch,

Hasse

2024

Robotics

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The paper presents a novel offline programming (OLP) method based on programming by demonstration (PbD), which has been validated through user study. PbD is a programming method that involves physical interaction with robots, and kinesthetic teaching (KT) is a commonly used online programming method in industry. However, online programming methods consume significant robot resources, limiting the speed advantages of PbD and emphasizing the need for an offline approach. The method presented here, based on KT, uses a virtual representation instead of a physical robot, allowing independent programming regardless of the working environment. It employs haptic input devices to teach a simulated robot in augmented reality and uses automatic path planning. A benchmarking test was conducted to standardize equipment, procedures, and evaluation techniques to compare different PbD approaches. The results indicate a 47% decrease in programming time when compared to traditional KT methods in established industrial systems. Although the accuracy is not yet at the level of industrial systems, users have shown rapid improvement, confirming the learnability of the system. User feedback on the perceived workload and the ease of use was positive. In conclusion, this method has potential for industrial use due to its learnability, reduction in robot downtime, and applicability across different robot sizes and types.

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Section: Offline Programming By Virtual Kinesthetic Teachingmentioning

confidence: 99%

User Study to Validate the Performance of an Offline Robot Programming Method That Enables Robot-Independent Kinesthetic Instruction through the Use of Augmented Reality and Motion Capturing

Müller,

Koch,

Hasse

2024

Robotics

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“…PbD provides several communication modalities for transmitting training data from humans to the robot, including kinesthetic teaching, haptics, speech, and augmented reality Müller et al (2021). This study uses a kinesthetic interface for robot teaching, where a human teacher demonstrates the task by physically guiding the robot manipulator.…”

Section: Introductionmentioning

confidence: 99%

Understanding and Quantifying Human Factors in Programming from Demonstration: A User Study Proposal

Mehak,

Jain,

Kelleher

et al. 2023

Proceeding of the 33rd European Safety and Reliability Conference

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Programming by demonstration (PbD) is a promising method for robots to learn from direct, non-expert human interaction. This approach enables the interactive transfer of human skills to the robot. As the non-expert user is at the center of PbD, the efficacy of the learned skill is largely dependent on the demonstrations provided. Although PbD methods have been extensively developed and validated in the field of robotics, there has been inadequate confirmation of their effectiveness from the perspective of human teachability. To address this gap, we propose to experimentally investigate the impact of communicating robot learning process on the efficacy of the transferred skills. This paper outlines the preliminary steps in designing experiments to identify human-related performance shaping factors in PbD. The purpose of this article is to establish the foundation for an experimental study that focuses on the human component in PbD algorithms and provides new insights into human factors in PbD design.

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“…The potential and feasibility of applying AR technology for visualizing DT information are more and more examined empirically. Studies and interviews with expert users confirm that the overall potential of this combined forces approach improves interaction with the physical product or object and helps increase awareness [44,48,60].…”

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confidence: 99%

Augmented Reality and the Digital Twin: State-of-the-Art and Perspectives for Cybersecurity

Böhm

Dietz

Preindl

et al. 2021

JCP

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The rapid advancements of technology related to the Internet of Things and Cyber-Physical Systems mark an ongoing industrial revolution. Digital Twins and Augmented Reality play a significant role in this technological advancement. They are highly complementary concepts enabling the representation of physical assets in the digital space (Digital Twin) and the augmentation of physical space with digital information (Augmented Reality). Throughout the last few years, research has picked up on this and explored the possibilities of combining DT and AR. However, cybersecurity scholars have not yet paid much attention to this combined-arms approach, despite its potential. Especially, concerning contemporary security challenges, such as developing cyber situational awareness and including human factors into cybersecurity, AR and DT, offer tremendous potential for improvement. In this work, we systematize existing knowledge on AR-powered DTs and shed light on why and how cybersecurity could benefit from this combination.

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Cyber-physical-system for representing a robot end effector

Cited by 11 publications

References 9 publications

User Study to Validate the Performance of an Offline Robot Programming Method That Enables Robot-Independent Kinesthetic Instruction through the Use of Augmented Reality and Motion Capturing

User Study to Validate the Performance of an Offline Robot Programming Method That Enables Robot-Independent Kinesthetic Instruction through the Use of Augmented Reality and Motion Capturing

Understanding and Quantifying Human Factors in Programming from Demonstration: A User Study Proposal

Augmented Reality and the Digital Twin: State-of-the-Art and Perspectives for Cybersecurity

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