Physical Human–Robot Interaction (pHRI) in 6 DOF With Asymmetric Cooperation

Whitsell, Bryan; Artemiadis, Panagiotis

doi:10.1109/access.2017.2708658

Cited by 28 publications

(17 citation statements)

References 27 publications

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“…In addition to visual effect, haptic interaction is also very important for surgical simulators [ 40 ]. In order to enhance the reality and immersion of virtual cutting, we add the force feedback in the simulation of soft tissue cutting.…”

Section: Numerical Results and Algorithm Verificationmentioning

confidence: 99%

A Novel Haptic Interactive Approach to Simulation of Surgery Cutting Based on Mesh and Meshless Models

Cheng

Liu

Lai

et al. 2018

Journal of Healthcare Engineering

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In the present work, the majority of implemented virtual surgery simulation systems have been based on either a mesh or meshless strategy with regard to soft tissue modelling. To take full advantage of the mesh and meshless models, a novel coupled soft tissue cutting model is proposed. Specifically, the reconstructed virtual soft tissue consists of two essential components. One is associated with surface mesh that is convenient for surface rendering and the other with internal meshless point elements that is used to calculate the force feedback during cutting. To combine two components in a seamless way, virtual points are introduced. During the simulation of cutting, the Bezier curve is used to characterize smooth and vivid incision on the surface mesh. At the same time, the deformation of internal soft tissue caused by cutting operation can be treated as displacements of the internal point elements. Furthermore, we discussed and proved the stability and convergence of the proposed approach theoretically. The real biomechanical tests verified the validity of the introduced model. And the simulation experiments show that the proposed approach offers high computational efficiency and good visual effect, enabling cutting of soft tissue with high stability.

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Section: Numerical Results and Algorithm Verificationmentioning

confidence: 99%

A Novel Haptic Interactive Approach to Simulation of Surgery Cutting Based on Mesh and Meshless Models

Cheng

Liu

Lai

et al. 2018

Journal of Healthcare Engineering

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“…A relationship between the kinematics of the cobot and the application was not explicitly considered, since we believe that other parameters, such as the presence of force sensors in each axis, influenced the cobot choice made in these papers. However, it should be noted that the kinematics-precisely, the number of axes-was a feature considered in [28], whereas future works are focused on verifying their findings with kinematically redundant robots [29] or utilizing the redundancy for achieving better stiffness in hand-guiding [30]. Figure 3 presents the different control systems in the selected human-robot collaboration (HRC) studies.…”

Section: Trends In the Literaturementioning

confidence: 99%

“…The key findings of these studies highlight challenge areas that research has successfully addressed, or even solved, when cobots are used for industrial tasks. Multiple studies reported an increase in task performance-e.g., by reducing completion time and minimizing error [25,37,38,43]as well as a better understanding of the operator space [29,31,32,41] and higher precision of workpiece manipulation [28,30,45]. Thematic areas of research intent can be identified, such as increasing and quantifying the trust of the operator in the robotic system [29,46,47], as well as improving safety by minimizing collisions [40].…”

Section: Trends In the Literaturementioning

confidence: 99%

“…In our view, these works can be achieved without any step change in existing technology or algorithms; rather, it requires more testing time. To increase safety, productivity, and task performance, researchers will need to improve planners, [39,53], environment and task understanding [28,40,54,55], operator intention understanding [38], and ergonomic cell setups [37,56]. To improve HRI systems, common future work focuses on increasing the robots' and operators' awareness of the task and environment by object recognition [44] and integrating multi-modal sensing in an intuitive manner for the operator [3,32,36].…”

Section: Trends In the Literaturementioning

confidence: 99%

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Human–Robot Collaboration in Manufacturing Applications: A Review

et al. 2019

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This paper provides an overview of collaborative robotics towards manufacturing applications. Over the last decade, the market has seen the introduction of a new category of robots—collaborative robots (or “cobots”)—designed to physically interact with humans in a shared environment, without the typical barriers or protective cages used in traditional robotics systems. Their potential is undisputed, especially regarding their flexible ability to make simple, quick, and cheap layout changes; however, it is necessary to have adequate knowledge of their correct uses and characteristics to obtain the advantages of this form of robotics, which can be a barrier for industry uptake. The paper starts with an introduction of human–robot collaboration, presenting the related standards and modes of operation. An extensive literature review of works published in this area is undertaken, with particular attention to the main industrial cases of application. The paper concludes with an analysis of the future trends in human–robot collaboration as determined by the authors.

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“…The humans and robots in Figure 5(a) and (b) are not interacting with each other. On the other hand, in Figure 5(c), the interaction at least is limited with physical interaction [43]. Human-robot interaction is related to communication between humans and robots whether it is remote interaction or proximity interaction [36].…”

Section: New Era Of Industrial Robotsmentioning

confidence: 99%

Computer Simulation of Human-Robot Collaboration in the Context of Industry Revolution 4.0

Rizal¹

2020

Becoming Human With Humanoid - From Physical Interaction to Social Intelligence

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The essential role of robot simulation for industrial robots, in particular the collaborative robots is presented in this chapter. We begin by discussing the robot utilization in the industry which includes mobile robots, arm robots, and humanoid robots. The author emphasizes the application of collaborative robots in regard to industry revolution 4.0. Then, we present how the collaborative robot utilization in the industry can be achieved through computer simulation by means of virtual robots in simulated environments. The robot simulation presented here is based on open dynamic engine (ODE) using anyKode Marilou. The author surveys on the use of dynamic simulations in application of collaborative robots toward industry 4.0. Due to the challenging problems which related to humanoid robots for collaborative robots and behavior in human-robot collaboration, the use of robot simulation may open the opportunities in collaborative robotic research in the context of industry 4.0. As developing a real collaborative robot is still expensive and time-consuming, while accessing commercial collaborative robots is relatively limited; thus, the development of robot simulation can be an option for collaborative robotic research and education purposes.

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Physical Human–Robot Interaction (pHRI) in 6 DOF With Asymmetric Cooperation

Cited by 28 publications

References 27 publications

A Novel Haptic Interactive Approach to Simulation of Surgery Cutting Based on Mesh and Meshless Models

A Novel Haptic Interactive Approach to Simulation of Surgery Cutting Based on Mesh and Meshless Models

Human–Robot Collaboration in Manufacturing Applications: A Review

Computer Simulation of Human-Robot Collaboration in the Context of Industry Revolution 4.0

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