Effect of external force and bimanual operation on upper limb pose during human-robot collaboration

Publication Type:
Conference Proceeding
Australasian Conference on Robotics and Automation, ACRA, 2017, 2017-December pp. 81 - 89
Issue Date:
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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 benefficial 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.
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