Experimental Validation of an Interface for a Human-Robot Interaction within a Collaborative Task

Maksim Andreevich Mustafin; Elvira Valeryevna Chebotareva; Evgeni Arkadievich Magid; Li Hongbing

Maksim Andreevich Mustafin Laboratory of Intelligent Robotic Systems, Intelligent Robotics Department, Institute of Information Technology and Intelligent Systems, Kazan Federal University, 35 Kremlyovskaya street, Kazan, 420111, Russian Federation https://orcid.org/0000-0002-2229-0104
Elvira Valeryevna Chebotareva Laboratory of Intelligent Robotic Systems, Intelligent Robotics Department, Institute of Information Technology and Intelligent Systems, Kazan Federal University, 35 Kremlyovskaya street, Kazan, 420111, Russian Federation https://orcid.org/0000-0002-9328-6639
Evgeni Arkadievich Magid Laboratory of Intelligent Robotic Systems, Intelligent Robotics Department, Institute of Information Technology and Intelligent Systems, Kazan Federal University, 35 Kremlyovskaya street, Kazan, 420111, Russian Federation https://orcid.org/0000-0001-7316-5664
Li Hongbing Department of Instrument Science and Engineering, Shanghai Jiao Tong University, Shanghai, China https://orcid.org/0000-0003-2420-3104

Keywords: Human-Robot Interaction, Human-Robot Collaboration, Collaborative Assembly, Virtual Control

Abstract

This paper presents a non-contact UR robots – Virtual Control (UR-VC) system for collaborative robots of the UR family, which is based on computer vision techniques and a virtual interaction interface. The control method involved specific hand movements within the robot's virtual control zones. We present the system and the results of an experimental validation. To evaluate the system, we designed a test case that simulates a joint product assembly in a collaborative workspace. 24 participants were involved in the experiments. All participants successfully controlled the robot using the proposed interface and their experience of operating the robot was analyzed via surveys.