Human-Robot Interaction System for Micromanipulation Assistance

Abstract

In this paper, we propose a robotic assistance system for carrying out a highly accurate peg-in-hole task by using a high-speed vision system and high-accuracy actuators. In this system, the vision system measures the position and the posture of the workpieces, and the actuators are moved according to this information. By using the high-speed vision system and operating the system at 500 Hz, a hole formed in one workpiece can be made to follow the complicated motion of a peg operated by a human and can be accurately aligned with the peg. In addition, since the torque required to move the hole is calculated on the basis of the position and direction data of the workpieces in the coordinate plane of the image captured by the vision system, the system is not affected by camera installation errors. Moreover, by using two cameras and combining the information from them, we made the tracking field wider. In order to evaluate the performance of the system, we executed a peg-in-hole task using a 50μm peg and a 70μm hole, and showed that the system completed the task with a success rate of 90%.