Workspace comparisons of setup configurations for human-robot interaction
| Autor: | Thomas Hulin, Gerd Hirzinger, Ian S. Howard, Franziska Zacharias |
|---|---|
| Rok vydání: | 2010 |
| Předmět: |
0209 industrial biotechnology
Engineering Robot kinematics InformationSystems_INFORMATIONINTERFACESANDPRESENTATION(e.g. HCI) business.industry 05 social sciences 02 engineering and technology Workspace Kinematics Haptic Device Human–robot interaction Light-Weight Robot 020901 industrial engineering & automation Workspace Analysis Robot 0501 psychology and cognitive sciences Computer vision Artificial intelligence Representation (mathematics) business Robotic arm 050107 human factors Simulation Haptic technology |
| Zdroj: | IROS |
| DOI: | 10.1109/iros.2010.5649207 |
| Popis: | In virtual assembly verification or remote maintenance tasks, bimanual haptic interfaces play a crucial role in successful task completion. This paper proposes a method for objectively comparing how well a haptic interface covers the reachable workspace of human arms. Two system configurations are analyzed for a recently introduced haptic device that is based on two DLR-KUKA light weight robots: the standard configuration, where the device is opposite the human operator, and the ergonomic configuration, where the haptic device is mounted behind the human operator. The human operator directly controls the robotic arms using handles. The analysis is performed using a representation of the robot arm workspace. The merits of restricting the comparisons to the most significant regions of the human workspace are discussed. Using this method, a greater workspace correspondence for the ergonomic configuration was shown. |
| Databáze: | OpenAIRE |
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