Effect of External Force and Bimanual Operation on Upper Limb Pose during Human-Robot Collaboration

Khonasty, R; Carmichael, MG; Liu, D; Aldini, S

Effect of External Force and Bimanual Operation on Upper Limb Pose during Human-Robot Collaboration

Khonasty, R Carmichael, MG

Liu, D

Aldini, S

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Publisher:: ARAA
Publication Type:: Conference Proceeding
Citation:: Australasian Conference on Robotics and Automation 2017, 2017, pp. 1 - 9
Issue Date:: 2017-12-13

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Field	Value	Language
dc.contributor.author	Khonasty, R	en_US
dc.contributor.author	Carmichael, MG https://orcid.org/0000-0001-8439-0074	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Aldini, S	en_US
dc.contributor.editor	Kodagoda, S	en_US
dc.date	2017-12-11	en_US
dc.date.issued	2017-12-13	en_US
dc.identifier.citation	Australasian Conference on Robotics and Automation 2017, 2017, pp. 1 - 9	en_US
dc.identifier.isbn	978-0-9807404-8-6	en_US
dc.identifier.issn	1448-2053	en_US
dc.identifier.uri	http://hdl.handle.net/10453/123205
dc.description.abstract	During physical Human-Robot Interaction (pHRI) in industrial applications such as human-robot collaborative abrasive blasting, the operator often interacts with the robot using two hands, exchanging forces through handle bars. For the robot to provide appropriate assistance to the operator and for safe interaction, it would be beneficial for the robot to know the pose of the user. This problem is often challenging due to environmental factors, limited sensing capability in the environment and the robot, and redundancy of the human upper-limb. This paper presents experimental study on how two-hand interaction and force exchange affect the operators upper-limb pose, which can be characterized by swivel angle. The poses of ten subjects were recorded as they interacted with a collaborative robot. Differences in the adopted upper limb pose were analyzed with respect to factors such as unimanual versus bimanual operation, and the amplitude of interaction force between an operator and the robot. The results discovered that the the effect of bimanual operation on the upper limb pose differs between individuals and the magnitude of the force had a varying effect on the pose. The requirement of applying a force forward produced an overall lower swivel angle	en_US
dc.publisher	ARAA	en_US
dc.relation.ispartof	Australasian Conference on Robotics and Automation 2017	en_US
dc.relation.ispartof	Australasian Conference on Robotics and Automation	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.title	Effect of External Force and Bimanual Operation on Upper Limb Pose during Human-Robot Collaboration	en_US
dc.type	Conference Proceeding
utslib.location	Australia	en_US
utslib.location.activity	Sydney Australia	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
pubs.consider-herdc	false	en_US
pubs.finish-date	2017-12-13	en_US
pubs.place-of-publication	Australia	en_US
pubs.publication-status	Published	en_US
pubs.start-date	2017-12-11	en_US

Abstract:

During physical Human-Robot Interaction (pHRI) in industrial applications such as human-robot collaborative abrasive blasting, the operator often interacts with the robot using two hands, exchanging forces through handle bars. For the robot to provide appropriate assistance to the operator and for safe interaction, it would be beneficial for the robot to know the pose of the user. This problem is often challenging due to environmental factors, limited sensing capability in the environment and the robot, and redundancy of the human upper-limb. This paper presents experimental study on how two-hand interaction and force exchange affect the operators upper-limb pose, which can be characterized by swivel angle. The poses of ten subjects were recorded as they interacted with a collaborative robot. Differences in the adopted upper limb pose were analyzed with respect to factors such as unimanual versus bimanual operation, and the amplitude of interaction force between an operator and the robot. The results discovered that the the effect of bimanual operation on the upper limb pose differs between individuals and the magnitude of the force had a varying effect on the pose. The requirement of applying a force forward produced an overall lower swivel angle

Please use this identifier to cite or link to this item:

http://hdl.handle.net/10453/123205