Improving human-robot interactivity for tele-operated industrial and service robot applications

In industrial robotics applications, teach pendant has been widely used by human operators to pre-define action trajectories for robot manipulators to execute as primitives. This hard-coding approach is only good for low-mix-highvolume jobs with sparse trajectory way-points. In this paper, we present a novel industrial robotic system designed for applications where human-robot interaction is key for efficient execution of actions such as high-mix-low-volume jobs. The proposed system comprises a robot manipulator that controls a tool (such as a soldering iron) to interact with the required workpiece, a networking server for remote tele-operation, and an integrated user interface that allows the human operator to better perceive the remote operation and to execute actions with greater ease. A user study is conducted to understand the merits of the proposed system. Results indicate that human can operate the system with ease and complete tasks more quickly and that the system can improve application efficiency

Improving human-robot interactivity for tele-operated industrial and service robot applications

In industrial robotics applications, teach pendant has been widely used by human operators to pre-define action trajectories for robot manipulators to execute as primitives. This hard-coding approach is only good for low-mix-highvolume jobs with sparse trajectory way-points. In this paper, we present a novel industrial robotic system designed for applications where human-robot interaction is key for efficient execution of actions such as high-mix-low-volume jobs. The proposed system comprises a robot manipulator that controls a tool (such as a soldering iron) to interact with the required workpiece, a networking server for remote tele-operation, and an integrated user interface that allows the human operator to better perceive the remote operation and to execute actions with greater ease. A user study is conducted to understand the merits of the proposed system. Results indicate that human can operate the system with ease and complete tasks more quickly and that the system can improve application efficiency

Robots and Cultural Heritage: New Museum Experiences

The introduction of new technologies to enhance the visiting museum experience is not a novelty. A large variety of interactive systems are nowadays available, including virtual tours, which makes cultural heritage accessible remotely. The theme of increase in accessibility and attractiveness has lately been faced with the employment of the service robotics, covering various types of applications. Regrettably, many of robotics solutions appear less successful in terms of utility and usability. On the basis of this awareness, a design for a new robotic solution for cultural heritage has been proposed. The project, developed at the royal residence of Racconigi Castle, consists of a telepresence robot designed as a tool to explore inaccessible areas of the heritage. The employed robot, called Virgil, was expressly designed for the project. The control of the robot is entrusted to the museum guides in order to enhance their work and enrich the cultural storytelling

Augmented Reality and Robotics: A Survey and Taxonomy for AR-enhanced Human-Robot Interaction and Robotic Interfaces

This paper contributes to a taxonomy of augmented reality and robotics based on a survey of 460 research papers. Augmented and mixed reality (AR/MR) have emerged as a new way to enhance human-robot interaction (HRI) and robotic interfaces (e.g., actuated and shape-changing interfaces). Recently, an increasing number of studies in HCI, HRI, and robotics have demonstrated how AR enables better interactions between people and robots. However, often research remains focused on individual explorations and key design strategies, and research questions are rarely analyzed systematically. In this paper, we synthesize and categorize this research field in the following dimensions: 1) approaches to augmenting reality; 2) characteristics of robots; 3) purposes and benefits; 4) classification of presented information; 5) design components and strategies for visual augmentation; 6) interaction techniques and modalities; 7) application domains; and 8) evaluation strategies. We formulate key challenges and opportunities to guide and inform future research in AR and robotics

An Overview of Self-Adaptive Technologies Within Virtual Reality Training

This overview presents the current state-of-the-art of self-adaptive technologies within virtual reality (VR) training. Virtual reality training and assessment is increasingly used for five key areas: medical, industrial & commercial training, serious games, rehabilitation and remote training such as Massive Open Online Courses (MOOCs). Adaptation can be applied to five core technologies of VR including haptic devices, stereo graphics, adaptive content, assessment and autonomous agents. Automation of VR training can contribute to automation of actual procedures including remote and robotic assisted surgery which reduces injury and improves accuracy of the procedure. Automated haptic interaction can enable tele-presence and virtual artefact tactile interaction from either remote or simulated environments. Automation, machine learning and data driven features play an important role in providing trainee-specific individual adaptive training content. Data from trainee assessment can form an input to autonomous systems for customised training and automated difficulty levels to match individual requirements. Self-adaptive technology has been developed previously within individual technologies of VR training. One of the conclusions of this research is that while it does not exist, an enhanced portable framework is needed and it would be beneficial to combine automation of core technologies, producing a reusable automation framework for VR training

Development of an open access system for remote operation of robotic manipulators

Mestrado de dupla diplomação com a UTFPR - Universidade Tecnológica Federal do ParanáExploring the realms of research, training, and learning in the field of robotic systems poses obstacles for institutions lacking the necessary infrastructure. The significant investment required to acquire physical robotic systems often limits access and hinders progress in these areas. While robotic simulation platforms provide a virtual environment for experimentation, the potential of remote robotic environments surpasses this by enabling users to interact with real robotic systems during training and research activities. This way, users, including students and researchers, can engage in a virtual experience that transcends geographical boundaries, connecting them to real-world robotic systems though the Internet. By bridging the gap between virtual and physical worlds, remote environments offer a more practical and immersive experience, and open up new horizons for collaborative research and training. Democratizing access to these technologies means empower educational institutions and research centers to engage in practical and handson learning experiences. However, the implementation of remote robotic environments comes with its own set of technical challenges: communication, security, stability and access. In light of these challenges, a ROS-based system has been developed, providing open access with promising results (low delay and run-time visualization). This system enables remote control of robotic manipulators and has been successfully validated through the remote operation of a real UR3 manipulator.Explorar as áreas de pesquisa, treinamento e aprendizado no campo de sistemas robóticos apresenta obstáculos para instituições que não possuem a infraestrutura necessária. O investimento significativo exigido para adquirir sistemas robóticos físicos muitas vezes limita o acesso e dificulta o progresso nessas áreas. Embora as plataformas de simulação robótica forneçam um ambiente virtual para experimentação, o potencial dos ambientes robóticos remotos vai além disso, permitindo que os usuários interajam com sistemas robóticos reais durante atividades de treinamento e pesquisa. Dessa forma, os usuários, incluindo estudantes e pesquisadores, podem participar de uma experiência virtual que transcende as fronteiras geográficas, conectando-os a sistemas robóticos do mundo real por meio da Internet. Ao estabelecer uma ponte entre os mundos virtual e físico, os ambientes remotos oferecem uma experiência mais prática e imersiva, abrindo novos horizontes para a pesquisa colaborativa e o treinamento. Democratizar o acesso a essas tecnologias significa capacitar instituições educacionais e centros de pesquisa a se envolverem em experiências práticas e de aprendizado prático. No entanto, a implementação de ambientes robóticos remotos traz consigo um conjunto próprio de desafios técnicos: comunicação, segurança, estabilidade e acesso. Diante desses desafios, foi desenvolvida uma plataforma baseada em ROS, oferecendo acesso aberto com resultados promissores (baixo delay e visualização em run-time). Essa plataforma possibilita o controle remoto de manipuladores robóticos e foi validada com sucesso por meio da operação remota de um manipulador UR3 real

Robot mediated communication: Enhancing tele-presence using an avatar

In the past few years there has been a lot of development in the field of tele-presence. These developments have caused tele-presence technologies to become easily accessible and also for the experience to be enhanced. Since tele-presence is not only used for tele-presence assisted group meetings but also in some forms of Computer Supported Cooperative Work (CSCW), these activities have also been facilitated. One of the lingering issues has to do with how to properly transmit presence of non-co-located members to the rest of the group. Using current commercially available tele-presence technology it is possible to exhibit a limited level of social presence but no physical presence. In order to cater for this lack of presence a system is implemented here using tele-operated robots as avatars for remote team members and had its efficacy tested. This testing includes both the level of presence that can be exhibited by robot avatars but also how the efficacy of these robots for this task changes depending on the morphology of the robot. Using different types of robots, a humanoid robot and an industrial robot arm, as tele-presence avatars, it is found that the humanoid robot using an appropriate control system is better at exhibiting a social presence. Further, when compared to a voice only scenario, both robots proved significantly better than with only voice in terms of both cooperative task solving and social presence. These results indicate that using an appropriate control system, a humanoid robot can be better than an industrial robot in these types of tasks and the validity of aiming for a humanoid design behaving in a human-like way in order to emulate social interactions that are closer to human norms. This has implications for the design of autonomous socially interactive robot systems