Dataset Information

Development of Flexible Robot Skin for Safe and Natural Human?Robot Collaboration.

ABSTRACT: For industrial manufacturing, industrial robots are required to work together with human counterparts on certain special occasions, where human workers share their skills with robots. Intuitive human?robot interaction brings increasing safety challenges, which can be properly addressed by using sensor-based active control technology. In this article, we designed and fabricated a three-dimensional flexible robot skin made by the piezoresistive nanocomposite based on the need for enhancement of the security performance of the collaborative robot. The robot skin endowed the YuMi robot with a tactile perception like human skin. The developed sensing unit in the robot skin showed the one-to-one correspondence between force input and resistance output (percentage change in impedance) in the range of 0?6.5 N. Furthermore, the calibration result indicated that the developed sensing unit is capable of offering a maximum force sensitivity (percentage change in impedance per Newton force) of 18.83% N^-1 when loaded with an external force of 6.5 N. The fabricated sensing unit showed good reproducibility after loading with cyclic force (0?5.5 N) under a frequency of 0.65 Hz for 3500 cycles. In addition, to suppress the bypass crosstalk in robot skin, we designed a readout circuit for sampling tactile data. Moreover, experiments were conducted to estimate the contact/collision force between the object and the robot in a real-time manner. The experiment results showed that the implemented robot skin can provide an efficient approach for natural and secure human?robot interaction.

SUBMITTER: Pang G

PROVIDER: S-EPMC6266199 | biostudies-literature | 2018 Nov

REPOSITORIES: biostudies-literature

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Development of Flexible Robot Skin for Safe and Natural Human⁻Robot Collaboration.

Pang Gaoyang G Deng Jia J Wang Fangjinhua F Zhang Junhui J Pang Zhibo Z Yang Geng G

Micromachines 20181105 11

For industrial manufacturing, industrial robots are required to work together with human counterparts on certain special occasions, where human workers share their skills with robots. Intuitive human⁻robot interaction brings increasing safety challenges, which can be properly addressed by using sensor-based active control technology. In this article, we designed and fabricated a three-dimensional flexible robot skin made by the piezoresistive nanocomposite based on the need for enhancement of th ...[more]

PMID: 30400665

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Project description:This article provides a perspective on estimation and control problems in cyberphysical human systems (CPHSs) that work at the intersection of cyberphysical systems and human systems. The article also discusses solutions to some of the problems in CPHSs. One example of a CPHS is a close-proximity human-robot collaboration (HRC) in a manufacturing setting. The issue of the joint operation's efficiency and human factors, such as safety, attention, mental states, and comfort, naturally arise in the HRC context. By considering human factors, robots' actions can be controlled to achieve objectives, including safe operations and human comfort. Alternately, questions arise when robot factors are considered. For example, can we provide direct inputs and information to humans about an environment and the robots in the area such that the objectives of safety, efficiency, and comfort can be satisfied by considering the robots' current capabilities? The article discusses specific problems involved in HRC related to controlling a robot's motion by taking the current actions of the human in the loop with the robot's control system. To this end, two main challenges are discussed: 1) inferring the intention behind human actions by analyzing a person's motion as observed through skeletal tracking and gaze data and 2) a controller design that keeps robot motion constrained to a boundary in a 3D space by using control barrier functions. The intention inference method fuses skeleton-joint tracking data obtained using the Microsoft Kinect sensor and human gaze data gathered from red-green-blue Kinect images. The direction of a human's hand-reaching motion and a goal-reaching point is estimated while performing a joint pick-and-place task. The trajectory of the hand is estimated forward in time based on the gaze and hand motion data at the current time instance. A barrier function method is applied to generate safe robot trajectories along with forecast hand movements to complete the collaborative displacement of an object by a person and a robot. An adaptive controller is then used to track the reference trajectories using the Baxter robot, which is tested in a Gazebo simulation environment.

Dataset Information

Development of Flexible Robot Skin for Safe and Natural Human?Robot Collaboration.

Publications

Development of Flexible Robot Skin for Safe and Natural Human⁻Robot Collaboration.

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