Human Error Recovery by a Maintainable Human/Robot Parts Conveyance System
Human Error Recovery by a Maintainable Human/Robot Parts Conveyance System
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通过可维护的人/机器人零件输送系统恢复人为错误
DOI：
10.7210/jrsj.21.420
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
Y. Umetani
中科院分区：
文献类型：
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作者：
Yoji Yamada;Takahisa Yamamoto;Takayuki Sakai;T. Morizono;Y. Umetani
在本文中，特别关注人/机器人共存系统中的人为错误，以完成机器人部分协助人类操作员的协作任务。探讨了应用可维护性概念来维护任务的可能性，以进行人为错误检测和恢复。在设置了推断操作员想要达到的目标的问题后，我们建议为机器人提供使用隐马尔可夫模型（HMM）从检测到的轨迹数据的中间序列推断操作员预期的路径模式的能力，隐马尔可夫模型的算法针对我们的目标进行了修改。通过针对快速零件输送任务的机器人操作实验，我们验证了借助所提出的操作员预期路径模式推理方案可以实现有效的人为错误检测和恢复，并证明了其有用性。对实验中受试者的采访表明，所有人为错误类型的失误、失误和错误都包括在内，我们的建议可以有效防止人为失误和错误。
In the paper, special attention is paid to human errors in a human/robot coexistence system for their collaborative tasks in which the robot partially assisted the power of a human operator. The possibility of applying maintainability concept for maintainance of tasks is explored for human error detection and recovery. After setting a problem of inferring a goal intended to reach by the operator, we propose to provide the robot with a capability of inferring an operator-intended path pattern from a halfway sequence of detected trajectory data using HMM whose algorithm is modified for our target. We verify, through experiments of the robot operation for rapid parts conveyance tasks, that efficient human error detection and recovery can be achieved with the aid of the proposed operator-intended path pattern inference scheme and demonstrate its usefulness. Interviews from the subjects in the experiments reveal that all human error types of slips, lapses, and mistakes are included in which our proposal is effective against human lapses and mistakes.