Human Robot Workflow - Modelling and Control of Collaborative Tasks

本研究从实验、建模和分析的角度解决了人机协作的挑战；提出了安全、有效、高效的人机交互设计方法。我的研究为基于生理、触觉和手势提示的闭环人机交互提供了新颖的方法和演示，应用于“构建块”场景：轮流、对象传递、资源共享、命令发布。这些人在环通信和控制方法支持创建和实验评估人机交互应用在远程操作，产品装配和协作搬运。***为了推进这一领域的研究并为市场上出现的众多机器人助理平台创造新的应用，需要一个强大的知识框架、方法和复杂交互的设计原则；它允许在不同的协作模式之间平稳安全地进行交互。我的团队将通过对两条轨道上的相互作用的研究来开发这个框架：i)时间相互作用，即协作人机工作的流畅性和节奏；ii)空间交互，即人机接近学。这两条轨迹直接映射到共享任务中的互动范围：从远端，低频，支持性互动到近距离，高频合作活动。通过假设生成、原型设计、实验工作和分析的过程，我们将探索这些轨道，并开发支持人机协作的交互方法，以实现全方位的工作共享模式。***整合这两个轨道，我的团队将开发在线工具，用于评估、沟通和协调整体物理系统状态（人、机器人/设备和任务）、用户意图和机器人控制器动作。此外，我们将继续研究和改进建模和测试人机交互的方法和协议，以便我们能够更好地了解人和机器人如何协同工作。***跨工作共享模式的人机交互研究，以及用于人机团队建模和设计的先进工具的开发，为工程师、系统设计师、集成商提供了在广泛的新兴制造和消费产品场景中有效设计和实施机器人设备的能力。培养这一领域的研究生将推动这一领域的发展，并为在协作机器人领域创造新的市场机会提供所需的人才和技术。对于工业来说，有效的人机协作，利用新的机器人系统，将提高生产力和质量，同时使公司在竞争激烈的全球市场中占据优势。

This research addresses the challenges of Human-Robot collaboration from experimental, modeling and analytical perspectives; and advances methods for safe, effective and efficient human-robot interaction design. My research has provided novel methods for, and demonstrations of, closed-loop human-robot interaction based on physiologic, haptic and gesture based cues – applied to ‘building block' scenarios: turn-taking, object passing, resource sharing, command issuance. These human-in-the-loop communication and control methods support the creation and experimental evaluation of human-robot interactions applications in teleoperation, product assembly and collaborative carrying. ***To advance this area of research and create new applications for the numerous robot assistant platforms coming out in the market, a robust framework of knowledge, methods, and design principles for complex interactions is required; one that allows interactions to shift smoothly and safely between different modes of collaboration. My team will develop this framework through investigations of interactions along two tracks: i) temporal interactions, that is, the fluency and rhythm of collaborative human-robot work; and ii) spatial interactions, that is human-robot proxemics. These two tracks directly map onto the range of interactions in shared tasks: from distal, low frequency, supportive interactions to close proximity, high frequency cooperative activity. Through a process of hypothesis generation, prototyping, experimental work, and analysis we will explore each of these tracks, and develop interactions methods that support human-robot collaboration over the full range of work sharing modalities. ***Integrating these two tracks, my team will develop online tools for assessing, communicating, and mediating between the overall physical system state (human, robot/devices, and task), the user's intentions, and the robot controller actions. Further, we will continue to investigate and improve methods and protocols for modelling and testing human-robot interactions so that we can better understand how people and robots work together. ***The study of human-robot interactions across modes of work-sharing, and the development of advanced tools for modelling and design of human-robot teamwork, provides engineers, system designers, integrators the ability to effectively design and implement robotic devices in a wide range of emerging manufacturing and consumer product scenarios. Training of graduate students in this area will advance the field and provide the talent and technology needed to create new market opportunities in the collaborative robotics space. For industry, effective human-robot collaboration, utilizing new robotic systems, will increase productivity and quality while giving companies an edge in competitive global markets.