Physical Human-Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators
Physical Human-Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators
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人机物理协作：机器人系统、学习方法、协作策略、传感器和执行器
DOI：
10.1109/tcyb.2019.2947532
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发表时间：
2021-04-01
影响因子：
11.8
通讯作者：
Liu, Honghai
中科院分区：
文献类型：
--
作者：
Ogenyi, Uchenna Emeoha;Liu, Jinguo;Liu, Honghai
本文介绍了机器人系统、传感器、执行器和用于人-机器人物理协作的协作策略的最新进展。这篇文章首先概述了一些具有尖端技术(传感器和执行器)的机器人系统，这些系统适合PHRC操作，以及PHRC使用的智能辅助设备。传感器是在人类和机器人系统之间建立通信的基本组件之一。传感器提供驱动机器人执行器所需的信号。调查显示，新一代协作机器人和其他智能机器人系统的设计为复杂的学习技术和控制算法在pHRC中的部署铺平了道路。此外，报告还揭示了要实现有效的方案和人权委员会需要考虑的相关组成部分。最后，对研究的主要进展进行了讨论，提出了一些研究方向和未来的挑战。
This article presents a state-of-the-art survey on the robotic systems, sensors, actuators, and collaborative strategies for physical human-robot collaboration (pHRC). This article starts with an overview of some robotic systems with cutting-edge technologies (sensors and actuators) suitable for pHRC operations and the intelligent assist devices employed in pHRC. Sensors being among the essential components to establish communication between a human and a robotic system are surveyed. The sensor supplies the signal needed to drive the robotic actuators. The survey reveals that the design of new generation collaborative robots and other intelligent robotic systems has paved the way for sophisticated learning techniques and control algorithms to be deployed in pHRC. Furthermore, it revealed the relevant components needed to be considered for effective pHRC to be accomplished. Finally, a discussion of the major advances is made, some research directions, and future challenges are presented.