Natural Virtual Reality User Interface to Define Assembly Sequences for Digital Human Models

Digital human models (DHMs) are virtual representations of human beings. They are used to conduct, among other things, ergonomic assessments in factory layout planning. DHM software tools are challenging in their use and thus require a high amount of training for engineers. In this paper, we present a virtual reality (VR) application that enables engineers to work with DHMs easily. Since VR systems with head-mounted displays (HMDs) are less expensive than CAVE systems, HMDs can be integrated more extensively into the product development process. Our application provides a reality-based interface and allows users to conduct an assembly task in VR and thus to manipulate the virtual scene with their real hands. These manipulations are used as input for the DHM to simulate, on that basis, human ergonomics. Therefore, we introduce a software and hardware architecture, the VATS (virtual action tracking system). This paper furthermore presents the results of a user study in which the VATS was compared to the existing WIMP (Windows, Icons, Menus and Pointer) interface. The results show that the VATS system enables users to conduct tasks in a significantly faster way

AdaptiX -- A Transitional XR Framework for Development and Evaluation of Shared Control Applications in Assistive Robotics

With the ongoing efforts to empower people with mobility impairments and the increase in technological acceptance by the general public, assistive technologies, such as collaborative robotic arms, are gaining popularity. Yet, their widespread success is limited by usability issues, specifically the disparity between user input and software control along the autonomy continuum. To address this, shared control concepts provide opportunities to combine the targeted increase of user autonomy with a certain level of computer assistance. This paper presents the free and open-source AdaptiX XR framework for developing and evaluating shared control applications in a high-resolution simulation environment. The initial framework consists of a simulated robotic arm with an example scenario in Virtual Reality (VR), multiple standard control interfaces, and a specialized recording/replay system. AdaptiX can easily be extended for specific research needs, allowing Human-Robot Interaction (HRI) researchers to rapidly design and test novel interaction methods, intervention strategies, and multi-modal feedback techniques, without requiring an actual physical robotic arm during the early phases of ideation, prototyping, and evaluation. Also, a Robot Operating System (ROS) integration enables the controlling of a real robotic arm in a PhysicalTwin approach without any simulation-reality gap. Here, we review the capabilities and limitations of AdaptiX in detail and present three bodies of research based on the framework. AdaptiX can be accessed at https://adaptix.robot-research.de.Comment: Accepted submission at The 16th ACM SIGCHI Symposium on Engineering Interactive Computing Systems (EICS'24

Data-driven learning for robot physical intelligence

The physical intelligence, which emphasizes physical capabilities such as dexterous manipulation and dynamic mobility, is essential for robots to physically coexist with humans. Much research on robot physical intelligence has achieved success on hyper robot motor capabilities, but mostly through heavily case-specific engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous manner, robot learning from human demonstration (LfD) has achieved great progress, but still has limitations handling dynamic skills and compound actions. In this dissertation, a composite learning scheme which goes beyond LfD and integrates robot learning from human definition, demonstration, and evaluation is proposed. This method tackles advanced motor skills that require dynamic time-critical maneuver, complex contact control, and handling partly soft partly rigid objects. Besides, the power of crowdsourcing is brought to tackle case-specific engineering problem in the robot physical intelligence. Crowdsourcing has demonstrated great potential in recent development of artificial intelligence. Constant learning from a large group of human mentors breaks the limit of learning from one or a few mentors in individual cases, and has achieved success in image recognition, translation, and many other cyber applications. A robot learning scheme that allows a robot to synthesize new physical skills using knowledge acquired from crowdsourced human mentors is proposed. The work is expected to provide a long-term and big-scale measure to produce advanced robot physical intelligence

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

This Open Access proceedings presents a good overview of the current research landscape of assembly, handling and industrial robotics. The objective of MHI Colloquium is the successful networking at both academic and management level. Thereby, the colloquium focuses an academic exchange at a high level in order to distribute the obtained research results, to determine synergy effects and trends, to connect the actors in person and in conclusion, to strengthen the research field as well as the MHI community. In addition, there is the possibility to become acquatined with the organizing institute. Primary audience is formed by members of the scientific society for assembly, handling and industrial robotics (WGMHI)