Close Human Robot Collaboration by means of a Low-cost Sensory Glove for Advanced Manufacturing Systems

Abstract

Human Robot Collaboration (HRC) enables humans and robots to co-exist in the same working environment by performing production operations together. In Advanced Manufacturing Systems, it is important to provide a safe environment where humans and robots can interact and work in conjunction with each other. This research explored and developed a device that enabled the creation of a Human Robot Collaborative environment. The study provided a low-cost sensory glove that was physically attached to the human hands. The project researched and designed the low-cost sensory glove in the form of both hardware and software. The sensory glove was used to teach the robot of the human's movements by means of physical actions under safe operating conditions. The sensory glove consisted of IMU sensors to accurately track the user's hand orientation and speed. An algorithm was developed and designed to compute the data and create a three-dimensional render of the hand as it moved through free space. It produced the image that the robot would recognize when interacting with the worker. A performance analysis was conducted on the accuracy, repeatability and application of the system. The results showed that it was a low-cost innovative solution for humans and robots to collaborate. The apparatus provided a safe working environment, whereby humans and robots could perform work operations together.