Proceedings ArticleDOI
An integrated framework for human-robot collaborative assembly in hybrid manufacturing cells
Behzad Sadrfaridpour,Hamed Saeidi,Yue Wang +2 more
- pp 462-467
TLDR
An integrated physical and social HRC framework for assembly tasks in a hybrid manufacturing cell is proposed that considers a computational model of a human worker's trust in his/her robot partner and uses the trust evaluation as a constraint in an optimal control problem.Abstract:
Recently, lightweight and flexible robots have been introduced for human-robot collaborative manufacturing. However, most of the research in this field focuses on the physical aspects of the interaction only. Nevertheless, psychological and social impact of human-robot collaboration (HRC) on manufacturing needs to be addressed and embedded in the design as well such that the robot actions become acceptable and comfortable for the human. Motivated by this need, we propose an integrated physical and social HRC framework for assembly tasks in a hybrid manufacturing cell. To address human physical demands, the robot motion control will be developed to keep pace with human motion during the task. Furthermore, psychological human factors will also be taken into account into the robot motion control for better HRC. More specifically, we consider a computational model of a human worker's trust in his/her robot partner and use the trust evaluation as a constraint in an optimal control problem. Finally, we run a pilot study to test our proposed framework.read more
Citations
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Journal ArticleDOI
Cobot programming for collaborative industrial tasks: An overview
TL;DR: An overview of collaborative industrial scenarios and programming requirements for cobots to implement effective collaboration is given, and detailed reviews on cobot programming, which are categorised into communication, optimisation, and learning are conducted.
Journal ArticleDOI
Human-robot collaboration in disassembly for sustainable manufacturing
TL;DR: A detailed enabling systematic implementation for HRCD is presented, combined with a set of advanced technologies such as cyber-physical production system (CPPS) and artificial intelligence (AI), and it involves five aspects which including perception, cognition, decision, execution and evolution aiming at the dynamics, uncertainties and complexities in disassembly.
Journal ArticleDOI
Collaborative Assembly in Hybrid Manufacturing Cells: An Integrated Framework for Human–Robot Interaction
Behzad Sadrfaridpour,Yue Wang +1 more
TL;DR: This paper proposes a novel framework for integrating HRI factors (both physical and social interactions) into the robot motion controller for human–robot collaborative assembly tasks in a manufacturing hybrid cell and shows that integrating both pHRI and sHRI in the robot controller leads to a significant drop of human perceived workload and considerable increase of robot usability and human trust in robot while the overall efficiency in terms of assembly time remains intact.
Journal ArticleDOI
Velocity-Level Control With Compliance to Acceleration-Level Constraints: A Novel Scheme for Manipulator Redundancy Resolution
TL;DR: A projected neural network is designed and proposed to online solve the problem with the joint acceleration constraint handled andoretical analysis is performed to guarantee the global convergence of the proposed projection neural network to the optimal solution to the redundancy resolution problem.
Book ChapterDOI
Overview of Human-Robot Collaboration in Manufacturing
TL;DR: High-level multimodal commands include gesture and posture recognition, voice processing and sensorless haptic interaction for intuitive HRC in local and remote collaboration within the manufacturing context are presented.
References
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Journal ArticleDOI
Trust in Automation: Designing for Appropriate Reliance
John D. Lee,Katrina A. See +1 more
TL;DR: This review considers trust from the organizational, sociological, interpersonal, psychological, and neurological perspectives, and considers how the context, automation characteristics, and cognitive processes affect the appropriateness of trust.
Journal ArticleDOI
Trust, control strategies and allocation of function in human-machine systems.
John D. Lee,Neville Moray +1 more
TL;DR: An experiment is reported to characterize the changes in operators' trust during an interaction with a semi-automatic pasteurization plant, and a regression model identifies the causes of changes in trust and a 'trust transfer function' is developed using time series analysis to describe the dynamics of trust.
Journal ArticleDOI
A meta-analysis of factors affecting trust in human-robot interaction.
Peter A. Hancock,Deborah R. Billings,Kristin E. Schaefer,Jessie Y. C. Chen,Ewart J. de Visser,Raja Parasuraman +5 more
TL;DR: Factors related to the robot itself, specifically, its performance, had the greatest current association with trust, and environmental factors were moderately associated; there was little evidence for effects of human-related factors.
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TL;DR: In this article, nonlinear model predictive control (NMPC) is interpreted as an approximation of infinite-horizon optimal control so that important properties like closed-loop stability, inverse optimality and suboptimality can be derived in a uniform manner.