Innovative Collaborative Method for Interaction between a Human Operator and Robotic Manipulator Using Pointing Gestures
The concept of “Industry 4.0” relies heavily on the utilization of collaborative robotic applications. As a result, the need for an effective, natural, and ergonomic interface arises, as more workers will be required to work with robots. Designing and implementing natural forms of human–robot intera...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-12-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/12/1/258 |
| _version_ | 1797499567639363584 |
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| author | Marek Čorňák Michal Tölgyessy Peter Hubinský |
| author_facet | Marek Čorňák Michal Tölgyessy Peter Hubinský |
| author_sort | Marek Čorňák |
| collection | DOAJ |
| description | The concept of “Industry 4.0” relies heavily on the utilization of collaborative robotic applications. As a result, the need for an effective, natural, and ergonomic interface arises, as more workers will be required to work with robots. Designing and implementing natural forms of human–robot interaction (HRI) is key to ensuring efficient and productive collaboration between humans and robots. This paper presents a gestural framework for controlling a collaborative robotic manipulator using pointing gestures. The core principle lies in the ability of the user to send the robot’s end effector to the location towards, which he points to by his hand. The main idea is derived from the concept of so-called “linear HRI”. The framework utilizes a collaborative robotic arm UR5e and the state-of-the-art human body tracking sensor Leap Motion. The user is not required to wear any equipment. The paper describes the overview of the framework’s core method and provides the necessary mathematical background. An experimental evaluation of the method is provided, and the main influencing factors are identified. A unique robotic collaborative workspace called Complex Collaborative HRI Workplace (COCOHRIP) was designed around the gestural framework to evaluate the method and provide the basis for the future development of HRI applications. |
| first_indexed | 2024-03-10T03:50:15Z |
| format | Article |
| id | doaj.art-5ecd3ed3a97c4071b4ac26f511103a24 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T03:50:15Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-5ecd3ed3a97c4071b4ac26f511103a242023-11-23T11:10:16ZengMDPI AGApplied Sciences2076-34172021-12-0112125810.3390/app12010258Innovative Collaborative Method for Interaction between a Human Operator and Robotic Manipulator Using Pointing GesturesMarek Čorňák0Michal Tölgyessy1Peter Hubinský2Faculty of Electrical Engineering and Information Technology, Institute of Robotics and Cybernetics, Slovak University of Technology in Bratislava, Ilkovičova 3, 812 19 Bratislava, SlovakiaFaculty of Electrical Engineering and Information Technology, Institute of Robotics and Cybernetics, Slovak University of Technology in Bratislava, Ilkovičova 3, 812 19 Bratislava, SlovakiaFaculty of Electrical Engineering and Information Technology, Institute of Robotics and Cybernetics, Slovak University of Technology in Bratislava, Ilkovičova 3, 812 19 Bratislava, SlovakiaThe concept of “Industry 4.0” relies heavily on the utilization of collaborative robotic applications. As a result, the need for an effective, natural, and ergonomic interface arises, as more workers will be required to work with robots. Designing and implementing natural forms of human–robot interaction (HRI) is key to ensuring efficient and productive collaboration between humans and robots. This paper presents a gestural framework for controlling a collaborative robotic manipulator using pointing gestures. The core principle lies in the ability of the user to send the robot’s end effector to the location towards, which he points to by his hand. The main idea is derived from the concept of so-called “linear HRI”. The framework utilizes a collaborative robotic arm UR5e and the state-of-the-art human body tracking sensor Leap Motion. The user is not required to wear any equipment. The paper describes the overview of the framework’s core method and provides the necessary mathematical background. An experimental evaluation of the method is provided, and the main influencing factors are identified. A unique robotic collaborative workspace called Complex Collaborative HRI Workplace (COCOHRIP) was designed around the gestural framework to evaluate the method and provide the basis for the future development of HRI applications.https://www.mdpi.com/2076-3417/12/1/258HRI (human–robot interaction)Leap MotionUR5hand gesture recognitionpointing gesturescollaborative robotics |
| spellingShingle | Marek Čorňák Michal Tölgyessy Peter Hubinský Innovative Collaborative Method for Interaction between a Human Operator and Robotic Manipulator Using Pointing Gestures Applied Sciences HRI (human–robot interaction) Leap Motion UR5 hand gesture recognition pointing gestures collaborative robotics |
| title | Innovative Collaborative Method for Interaction between a Human Operator and Robotic Manipulator Using Pointing Gestures |
| title_full | Innovative Collaborative Method for Interaction between a Human Operator and Robotic Manipulator Using Pointing Gestures |
| title_fullStr | Innovative Collaborative Method for Interaction between a Human Operator and Robotic Manipulator Using Pointing Gestures |
| title_full_unstemmed | Innovative Collaborative Method for Interaction between a Human Operator and Robotic Manipulator Using Pointing Gestures |
| title_short | Innovative Collaborative Method for Interaction between a Human Operator and Robotic Manipulator Using Pointing Gestures |
| title_sort | innovative collaborative method for interaction between a human operator and robotic manipulator using pointing gestures |
| topic | HRI (human–robot interaction) Leap Motion UR5 hand gesture recognition pointing gestures collaborative robotics |
| url | https://www.mdpi.com/2076-3417/12/1/258 |
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