Digital Twin-Driven Human Robot Collaboration Using a Digital Human
Advances are being made in applying digital twin (DT) and human–robot collaboration (HRC) to industrial fields for safe, effective, and flexible manufacturing. Using a DT for human modeling and simulation enables ergonomic assessment during working. In this study, a DT-driven HRC system was develope...
| Main Authors: | , , , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/24/8266 |
| _version_ | 1797500832655081472 |
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| author | Tsubasa Maruyama Toshio Ueshiba Mitsunori Tada Haruki Toda Yui Endo Yukiyasu Domae Yoshihiro Nakabo Tatsuro Mori Kazutsugu Suita |
| author_facet | Tsubasa Maruyama Toshio Ueshiba Mitsunori Tada Haruki Toda Yui Endo Yukiyasu Domae Yoshihiro Nakabo Tatsuro Mori Kazutsugu Suita |
| author_sort | Tsubasa Maruyama |
| collection | DOAJ |
| description | Advances are being made in applying digital twin (DT) and human–robot collaboration (HRC) to industrial fields for safe, effective, and flexible manufacturing. Using a DT for human modeling and simulation enables ergonomic assessment during working. In this study, a DT-driven HRC system was developed that measures the motions of a worker and simulates the working progress and physical load based on digital human (DH) technology. The proposed system contains virtual robot, DH, and production management modules that are integrated seamlessly via wireless communication. The virtual robot module contains the robot operating system and enables real-time control of the robot based on simulations in a virtual environment. The DH module measures and simulates the worker’s motion, behavior, and physical load. The production management module performs dynamic scheduling based on the predicted working progress under ergonomic constraints. The proposed system was applied to a parts-picking scenario, and its effectiveness was evaluated in terms of work monitoring, progress prediction, dynamic scheduling, and ergonomic assessment. This study demonstrates a proof-of-concept for introducing DH technology into DT-driven HRC for human-centered production systems. |
| first_indexed | 2024-03-10T03:09:31Z |
| format | Article |
| id | doaj.art-3f3844837a2e420fbd30a6da09fb1104 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T03:09:31Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-3f3844837a2e420fbd30a6da09fb11042023-11-23T10:28:58ZengMDPI AGSensors1424-82202021-12-012124826610.3390/s21248266Digital Twin-Driven Human Robot Collaboration Using a Digital HumanTsubasa Maruyama0Toshio Ueshiba1Mitsunori Tada2Haruki Toda3Yui Endo4Yukiyasu Domae5Yoshihiro Nakabo6Tatsuro Mori7Kazutsugu Suita8National Institute of Advanced Industrial Science and Technology, Koto-ku, Tokyo 135-0064, JapanNational Institute of Advanced Industrial Science and Technology, Koto-ku, Tokyo 135-0064, JapanNational Institute of Advanced Industrial Science and Technology, Koto-ku, Tokyo 135-0064, JapanNational Institute of Advanced Industrial Science and Technology, Koto-ku, Tokyo 135-0064, JapanNational Institute of Advanced Industrial Science and Technology, Koto-ku, Tokyo 135-0064, JapanNational Institute of Advanced Industrial Science and Technology, Koto-ku, Tokyo 135-0064, JapanNational Institute of Advanced Industrial Science and Technology, Koto-ku, Tokyo 135-0064, JapanToyota Motor Corporation, Toyota 471-8573, JapanToyota Motor Corporation, Toyota 471-8573, JapanAdvances are being made in applying digital twin (DT) and human–robot collaboration (HRC) to industrial fields for safe, effective, and flexible manufacturing. Using a DT for human modeling and simulation enables ergonomic assessment during working. In this study, a DT-driven HRC system was developed that measures the motions of a worker and simulates the working progress and physical load based on digital human (DH) technology. The proposed system contains virtual robot, DH, and production management modules that are integrated seamlessly via wireless communication. The virtual robot module contains the robot operating system and enables real-time control of the robot based on simulations in a virtual environment. The DH module measures and simulates the worker’s motion, behavior, and physical load. The production management module performs dynamic scheduling based on the predicted working progress under ergonomic constraints. The proposed system was applied to a parts-picking scenario, and its effectiveness was evaluated in terms of work monitoring, progress prediction, dynamic scheduling, and ergonomic assessment. This study demonstrates a proof-of-concept for introducing DH technology into DT-driven HRC for human-centered production systems.https://www.mdpi.com/1424-8220/21/24/8266digital twinhuman–robot collaborationdigital humanschedulingergonomics |
| spellingShingle | Tsubasa Maruyama Toshio Ueshiba Mitsunori Tada Haruki Toda Yui Endo Yukiyasu Domae Yoshihiro Nakabo Tatsuro Mori Kazutsugu Suita Digital Twin-Driven Human Robot Collaboration Using a Digital Human Sensors digital twin human–robot collaboration digital human scheduling ergonomics |
| title | Digital Twin-Driven Human Robot Collaboration Using a Digital Human |
| title_full | Digital Twin-Driven Human Robot Collaboration Using a Digital Human |
| title_fullStr | Digital Twin-Driven Human Robot Collaboration Using a Digital Human |
| title_full_unstemmed | Digital Twin-Driven Human Robot Collaboration Using a Digital Human |
| title_short | Digital Twin-Driven Human Robot Collaboration Using a Digital Human |
| title_sort | digital twin driven human robot collaboration using a digital human |
| topic | digital twin human–robot collaboration digital human scheduling ergonomics |
| url | https://www.mdpi.com/1424-8220/21/24/8266 |
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