Toward Safe and Efficient HRI in Industrial Settings via Distance-Based Speed Limiting and Motion-Level Adaptation

TitleToward Safe and Efficient HRI in Industrial Settings via Distance-Based Speed Limiting and Motion-Level Adaptation
Publication TypeConference Proceedings
Year of Conference2015
AuthorsLasota, P. A., and J. A. Shah
Conference NameIROS Workshop on Safety for Human-Robot Interaction in Industrial Settings
Date Published10/2015
Conference LocationHamburg, Germany
Abstract

Deploying robots for human-robot interaction (HRI) in industrial settings requires specific considerations for guaranteeing the safety of collaborating humans. In this work, we present a real-time safety system capable of allowing safe HRI with a standard industrial robot at very low distances of separation without the need for robot hardware modification or replacement. In the industrial setting, it is also imperative for the interaction to be efficient and not be stressful or uncomfortable. Toward this goal, we present work on analyzing how utilizing motion-level robot adaptation affects HRI in a manufacturing task. The results indicate that motion-level adaptation results in improved team fluency, higher satisfaction, and increased perceived safety and comfort.

URLhttp://interactive.mit.edu/sites/default/files/documents/Lasota_IROS_2015.pdf