This work proposes an Augmented Reality (AR) application designed for HoloLens 2 which allows human operators, without particular experience or knowledge of robotics, to easily interact with collaborative robots. Building on the application presented in a previous work of the authors, the novel contributions are focused on a bi-directional interaction that manages the exchange of data from the robot to the human operator and, in the meantime, the flow of commands in the opposite direction. More in detail, the application includes the reading of the robot state, in terms of joint positions, velocities and torques, the visualization of the workspace and the generation and manipulation of the end-effector trajectory by directly moving a set of way-points displayed in the AR environment. Finally, the trajectory feasibility is verified and notified to the user by taking into account the workspace limits. A usability study of the AR platform has been conducted involving 45 participants with different ages and expertise in robot programming and Extended Reality (XR) platforms, comparing two programming methods: a classical kinesthetic teaching interface, provided by the Franka Emika Panda cobot, and the presented AR platform. Participants have reported the effectiveness of the proposed platform, experiencing less physical demand and higher intuitiveness and usability.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Human-Robot Collaboration: An Augmented Reality Toolkit for Bi-Directional Interaction



    Erscheinungsdatum :

    01.01.2023



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Intuitive and Safe Interaction in Multi-User Human Robot Collaboration Environments through Augmented Reality Displays

    Georgios Tsamis / Georgios Chantziaras / Dimitrios Giakoumis et al. | BASE | 2021

    Freier Zugriff

    Explainable Human-Robot Interaction for Imitation Learning in Augmented Reality

    Belardinelli, Anna / Wang, Chao / Gienger, Michael | Springer Verlag | 2024


    Collaboration, Dialogue, Human-Robot Interaction

    Fong, Terrence / Thorpe, Charles / Baur, Charles | Springer Verlag | 2003



    Concepts for End-to-end Augmented Reality based Human-Robot Interaction Systems

    Puljiz, David / Hein, Björn | BASE | 2019

    Freier Zugriff