Paniti, Imre and Nacsa, János and Kovács, Péter and Szűr, Dávid (2020) VR and Depth Camera based Human-Robot Collision Predictor System with 3-Finger Gripper Assisted Assembly Device. In: 23rd International Symposium on Measurement and Control in Robotics (ISMCR2020), 15-17 October 2020., Budapest. (In Press)

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Abstract

It is known that Human-Robot Collaboration (HRC) performance is improved in some assembly tasks when a robot emulates the effective coordination behaviors observed in human teams, but a close interaction could cause collisions which should be avoided. There are several methods that can be used to communicate the intension of the robot. However, these are mainly acoustic or visual signals. In this paper a Virtual Reality and Depth Camera based System is presented where vibration signals are used to alert the user of a probable collision with a 2-Finger gripper equipped Robot. Experimental tests are investigated in an assembly task with - another 3-Finger - gripper which functions as a Flexible Assembly Device.

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