An Active Assistant Robotic System Based on High-Speed Vision and Haptic Feedback for Human-Robot Collaboration

摘要

Human-robot collaboration taking both human and robot's advantages becomes very promising in recent years. In this study, we propose a new active assistant robotic system for human-robot collaboration with the aim of optimally combining the cognitive capabilities of human and accurate motion control capabilities of robot. Under our method, human operator is provided with pneumatic haptic feedback to guide the system for coarse global-motion. Fine local-motion in an active manner is realized by a dynamic compensation robotic module with high-speed visual feedback. Since the active assist behavior here is confined to local motion and is accordingly safe to human operator. Experiments of preliminary investigation for set-point positioning and contour tracing under human-robot collaboration were implemented. Experimental results verified the effectiveness of the proposed method.