An Active Assistant Robotic System Based on High-Speed Vision and Haptic Feedback for Human-Robot Collaboration
An Active Assistant Robotic System Based on High-Speed Vision and Haptic Feedback for Human-Robot Collaboration
复制标题
基于高速视觉和触觉反馈的人机协作主动辅助机器人系统
DOI：
10.1109/iecon.2018.8592810
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Y. Yamakawa
中科院分区：
文献类型：
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作者：
Shouren Huang;M. Ishikawa;Y. Yamakawa
近年来，兼具人类和机器人优点的人机协作变得非常有前景。在本研究中，我们提出了一种用于人机协作的新型主动辅助机器人系统，旨在最佳地结合人类的认知能力和机器人的精确运动控制能力。根据我们的方法，为人类操作员提供气动触觉反馈来引导系统进行粗略的全局运动。通过具有高速视觉反馈的动态补偿机器人模块实现主动方式的精细局部运动。由于此处的主动辅助行为仅限于局部运动，因此对操作人员来说是安全的。进行了人机协作下的设定点定位和轮廓追踪的初步研究实验。实验结果验证了该方法的有效性。
Human-robot collaboration taking both human and robot's advantages becomes very promising in recent years. In this study, we propose a new active assistant robotic system for human-robot collaboration with the aim of optimally combining the cognitive capabilities of human and accurate motion control capabilities of robot. Under our method, human operator is provided with pneumatic haptic feedback to guide the system for coarse global-motion. Fine local-motion in an active manner is realized by a dynamic compensation robotic module with high-speed visual feedback. Since the active assist behavior here is confined to local motion and is accordingly safe to human operator. Experiments of preliminary investigation for set-point positioning and contour tracing under human-robot collaboration were implemented. Experimental results verified the effectiveness of the proposed method.