Survey of Human–Robot Collaboration in Industrial Settings: Awareness, Intelligence, and Compliance

Kumar, Shitij; Savur, Celal; Sahin, Ferat

doi:10.1109/tsmc.2020.3041231

Cited by 139 publications

(59 citation statements)

References 84 publications

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“…Concerning the evaluation of safety in HRC, some approaches use objective measures to plan and evaluate the performance of applications featuring "speed and separation monitoring" collaborative scenarios [16,17]. Unfortunately, they also demonstrate the difficulties in identifying the point in time during a robot's trajectory where a specific algorithm is the least safe, requiring either a simulation or a test with the completed system.…”

Section: Safety In Hrcmentioning

confidence: 99%

Validating Safety in Human–Robot Collaboration: Standards and New Perspectives

et al. 2021

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Human–robot collaboration is currently one of the frontiers of industrial robot implementation. In parallel, the use of robots and robotic devices is increasing in several fields, substituting humans in “4D”—dull, dirty, dangerous, and delicate—tasks, and such a trend is boosted by the recent need for social distancing. New challenges in safety assessment and verification arise, due to both the closer and closer human–robot interaction, common for the different application domains, and the broadening of user audience, which is now very diverse. The present paper discusses a cross-domain approach towards the definition of step-by-step validation procedures for collaborative robotic applications. To outline the context, the standardization framework is analyzed, especially from the perspective of safety testing and assessment. Afterwards, some testing procedures based on safety skills, developed within the framework of the European project COVR, are discussed and exemplary presented.

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Section: Safety In Hrcmentioning

confidence: 99%

Validating Safety in Human–Robot Collaboration: Standards and New Perspectives

et al. 2021

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“…In a recent review, Kumar et al [7] give an overview of Human-Robot Collaboration in industrial environments centred around three challenges facing the development of collaborative systems: human safety, trust in automation (i.e., user's expectations and acceptance) and productivity impact. Beyond the focus on human safety, this survey proposes a categorization of HRC based on three aspects of the system: awareness (perception and sensors), intelligence (robot action and behaviour), and compliance (control interfaces and communication).…”

Section: Analysis Of Past Reviewsmentioning

confidence: 99%

“…Safety emerges as a still open research field, despite the numerous studies that already had tackled this particular issue. We refer the reader to the following reviews on the requirements and challenges of safety in HRC [3,5,7,[38][39][40][41][42][43]. Some reported studies approach the safety problem by assuming the human operators and the robots share the same workspace but perform different tasks.…”

Section: Safety In Hrcmentioning

confidence: 99%

Trends of Human-Robot Collaboration in Industry Contexts: Handover, Learning, and Metrics

Castro

Silva

Santos

2021

Sensors

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Repetitive industrial tasks can be easily performed by traditional robotic systems. However, many other works require cognitive knowledge that only humans can provide. Human-Robot Collaboration (HRC) emerges as an ideal concept of co-working between a human operator and a robot, representing one of the most significant subjects for human-life improvement.The ultimate goal is to achieve physical interaction, where handing over an object plays a crucial role for an effective task accomplishment. Considerable research work had been developed in this particular field in recent years, where several solutions were already proposed. Nonetheless, some particular issues regarding Human-Robot Collaboration still hold an open path to truly important research improvements. This paper provides a literature overview, defining the HRC concept, enumerating the distinct human-robot communication channels, and discussing the physical interaction that this collaboration entails. Moreover, future challenges for a natural and intuitive collaboration are exposed: the machine must behave like a human especially in the pre-grasping/grasping phases and the handover procedure should be fluent and bidirectional, for an articulated function development. These are the focus of the near future investigation aiming to shed light on the complex combination of predictive and reactive control mechanisms promoting coordination and understanding. Following recent progress in artificial intelligence, learning exploration stand as the key element to allow the generation of coordinated actions and their shaping by experience.

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“…The introduction of collaborative robot manipulators, capable of safely sharing the workspace with humans, has represented a step change in robotics and paved the way to a variety of new humanrobot collaboration (HRC) paradigms (Ajoudani et al, 2018). These go beyond the mere suppression of cages and replacement of industrial robots with collaborative ones, as the fact that humans and robots can come into contact (voluntarily or involuntarily) not only requires additional considerations in terms of safety, but also enables previously inconceivable applications (Kumar et al, 2021).…”

Section: Introductionmentioning

confidence: 99%

Detachable Robotic Grippers for Human-Robot Collaboration

et al. 2021

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Collaborative robots promise to add flexibility to production cells thanks to the fact that they can work not only close to humans but also with humans. The possibility of a direct physical interaction between humans and robots allows to perform operations that were inconceivable with industrial robots. Collaborative soft grippers have been recently introduced to extend this possibility beyond the robot end-effector, making humans able to directly act on robotic hands. In this work, we propose to exploit collaborative grippers in a novel paradigm in which these devices can be easily attached and detached from the robot arm and used also independently from it. This is possible only with self-powered hands, that are still quite uncommon in the market. In the presented paradigm not only hands can be attached/detached to/from the robot end-effector as if they were simple tools, but they can also remain active and fully functional after detachment. This ensures all the advantages brought in by tool changers, that allow for quick and possibly automatic tool exchange at the robot end-effector, but also gives the possibility of using the hand capabilities and degrees of freedom without the need of an arm or of external power supplies. In this paper, the concept of detachable robotic grippers is introduced and demonstrated through two illustrative tasks conducted with a new tool changer designed for collaborative grippers. The novel tool changer embeds electromagnets that are used to add safety during attach/detach operations. The activation of the electromagnets is controlled through a wearable interface capable of providing tactile feedback. The usability of the system is confirmed by the evaluations of 12 users.

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Survey of Human–Robot Collaboration in Industrial Settings: Awareness, Intelligence, and Compliance

Cited by 139 publications

References 84 publications

Validating Safety in Human–Robot Collaboration: Standards and New Perspectives

Validating Safety in Human–Robot Collaboration: Standards and New Perspectives

Trends of Human-Robot Collaboration in Industry Contexts: Handover, Learning, and Metrics

Detachable Robotic Grippers for Human-Robot Collaboration

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