TY - GEN
T1 - A projection-based making-human-feel-safe system for human-robot cooperation
AU - Liu, Diyi
AU - Kinugawa, Jun
AU - Kosuge, Kazuhiro
N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].
PY - 2016/9/1
Y1 - 2016/9/1
N2 - When a person is working on a human robot cooperation system, he/she tends to worry about possible collisions with the robot, because of a lack of internal information about the robot. This internal information is, for example, an awareness of a worker's presence or future robot motion. Therefore, this paper proposes a projection-based making-human-feel-safe system that not only ensures the safety of a human worker but also ensures that the worker feels safe when working with a robot by displaying the internal information of the robot using projection technology. To develop this system, we utilized a Kalman filter for predicting a worker's hand position and compensating the delay in the projection. An elastic band framework was implemented to plan a safe path considering the position of the worker. Finally, an evaluation experiment was conducted to prove the effectiveness of the system. © 2016 IEEE.
AB - When a person is working on a human robot cooperation system, he/she tends to worry about possible collisions with the robot, because of a lack of internal information about the robot. This internal information is, for example, an awareness of a worker's presence or future robot motion. Therefore, this paper proposes a projection-based making-human-feel-safe system that not only ensures the safety of a human worker but also ensures that the worker feels safe when working with a robot by displaying the internal information of the robot using projection technology. To develop this system, we utilized a Kalman filter for predicting a worker's hand position and compensating the delay in the projection. An elastic band framework was implemented to plan a safe path considering the position of the worker. Finally, an evaluation experiment was conducted to prove the effectiveness of the system. © 2016 IEEE.
KW - Human-Robot Cooperation
KW - Make-human-feel-safe
KW - Manipulator
UR - https://www.scopus.com/pages/publications/84991236465
UR - https://www.scopus.com/pages/publications/84991236465#tab=impact
U2 - 10.1109/ICMA.2016.7558716
DO - 10.1109/ICMA.2016.7558716
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9781509023943
T3 - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
SP - 1101
EP - 1106
BT - 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
PB - IEEE
T2 - 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Y2 - 7 August 2016 through 10 August 2016
ER -