Towards easier human-robot interaction to help inexperienced operators in SMEs

Pieskä, Sakari; Kaarela, Jari; Saukko, Ossi

doi:10.1109/coginfocom.2012.6422002

Cited by 13 publications

(8 citation statements)

References 16 publications

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“…The defacto standard interface in industry is a teach pendant featuring an array of buttons, or in recent developments, a touch screen GUI (Azin, Balazs, Trygve, & Gabor, 2012). While button and teach pendant interfaces have developed significantly, they are insufficient for the types of rapidly changing tasks faced by modern industry (Pieska et al, 2012). Potential modes for explicit human-robot communication include speech, gesture, and haptic communication, while implicit communication channels include manipulative gestures, proactive task execution, and physiological signals (Bauer, Wollherr, & Buss, 2008).…”

Section: Hri In Human-robot Collaborative Workmentioning

confidence: 99%

“…In this paper, we primarily consider industrially relevant tasks. While industrial robots are a key factor in advanced flexible manufacturing, current programming and interaction methods centered around teach pendants hinder the effective adoption of robots in many tasks (Pieska, Kaarela, & Saukko, 2012). In addition to industrial uses, direct physical command may also have applications in other areas, such as home healthcare robotics, where a highly intuitive interface is important, or therapy robotics, where physical contact with the robot may be socially beneficial.…”

Section: Introductionmentioning

confidence: 99%

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Tap and Push: Assessing the Value of Direct Physical Control in Human-Robot Collaborative Tasks

Gleeson¹,

Currie²,

MacLean³

et al. 2015

Journal of Human-Robot Interaction

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In this paper, we compare a touch-based human-to-robot command scheme with traditional button commands in a series of human-robot collaborative assembly tasks. We find a mapping between command style and task outcome that depends on task complexity and is influenced by robot "feel." In our direct touch-based scheme, the user commands the robot through direct physical contact by tapping and pushing the robot. With a small, compliant desktop robot and a simple, scripted, bolt insertion task, button commands performed slightly better than direct physical commands in quantitative task performance metrics and qualitative user preference. In a second study with a human-scale, stiffer robot arm, physical commands performed better than button commands in a more complex and less scripted bolt insertion task, which greatly outperformed using buttons in a cooperative positioning task. We conclude that commanding a robot through direct force-transmitting contact can decrease task completion time, aid in teamwork, and improve user experience in appropriately chosen tasks. We achieve our haptic commands using only robot position sensors, demonstrating that direct, intuitive physical command is an option for existing position-controlled industrial robots.

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Section: Hri In Human-robot Collaborative Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Tap and Push: Assessing the Value of Direct Physical Control in Human-Robot Collaborative Tasks

Gleeson¹,

Currie²,

MacLean³

et al. 2015

Journal of Human-Robot Interaction

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“…A robot has the role of picking products from one location and placing them in a stacked format at an other location [31]. The worker has the role of instructing the robot the location of the product to be picked and placed.…”

Section: G Pieska Etalmentioning

confidence: 99%

Characterizing the State of the Art of Human-Robot Coproduction

2015

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Abstract-It is expected that soon, systems consisting of a blend of humans and robots be devised in such a way that higher productivities will be achieved. The main enabler for this is expected to be the possibility of collaboration between workers and robots. HRI (Human Robot Interaction) is the field in which such phenomena are studied. A growing number of investigators treat the collaboration of robots and workers (humans) in many contexts, however attention towards the manufacturing industry is predominantly focused on full automation of human tasks. Industrial robots have long been unsafe to work in close vicinity to workers due to their duty to be fast and powerful. However, nowadays, with the drive from emerging technologies, this is changing. Safe worker-robot collaborations are beginning to take shape and the HRI community is beginning to study such scenarios. Despite being a very effective form of interaction, a key research question is whether collaboration is a suitable mode of interaction for manufacturing environments. To be able to address this question, we found a collection of ten workerrobot systems that constitute a first step in outlining coproduction characteristics. This collection allowed us to identify differences in task initiative and product handling and component handling, while we frame coproduction as an extension of man. Challenges that require additional attention are workflow planning and defining proper performance indicators. We conclude with the fact that, although the worker-robot collaboration systems are inspiring and redefine labor, no sufficient knowledge or tools exists to reproduce such qualities in different manufacturing settings. Further work will be focused on modeling and assessing the performance and bottlenecks of systems based on novel robotic systems.

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“…Gesture-based interfaces, in particular, may be more intuitive for manipulation and remotely controlling robot arms [4]. Pieska et al developed a gesture-based system for assisting inexperienced operators at industrial robot programming tasks; they note that their interface was useful for users with varying levels of robot programming expertise [23]. For this paper we developed a bimanual gesture-based interface for modifying the arm position of the robots.…”

Section: Related Workmentioning

confidence: 99%

Know thy user: Designing human-robot interaction paradigms for multi-robot manipulation

Lewis

Sukthankar

2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper tackles the problem of designing an effective user interface for a multi-robot delivery system, composed of robots with wheeled bases and two 3 DOF arms. There are several proven paradigms for increasing the efficacy of human-robot interaction: 1) multimodal interfaces in which the user controls the robots using voice and gesture; 2) configurable interfaces which allow the user to create new commands by demonstrating them; 3) adaptive interfaces which reduce the operator's workload as necessary through increasing robot autonomy. Here we study the relative benefits of configurable vs. adaptive interfaces for multi-robot manipulation. User expertise was measured along three axes (navigation, manipulation, and coordination), and users who performed above threshold on two out of three dimensions on a calibration task were rated as expert. Our experiments reveal that the relative expertise of the user was the key determinant of the best performing interface paradigm for that user, indicating that good user modeling is essential for designing a human-robot interaction system meant to be used for an extended period of time.

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Towards easier human-robot interaction to help inexperienced operators in SMEs

Cited by 13 publications

References 16 publications

Tap and Push: Assessing the Value of Direct Physical Control in Human-Robot Collaborative Tasks

Tap and Push: Assessing the Value of Direct Physical Control in Human-Robot Collaborative Tasks

Characterizing the State of the Art of Human-Robot Coproduction

Know thy user: Designing human-robot interaction paradigms for multi-robot manipulation

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