PREDICTOR: A Physical emulatoR enabling safEty anD ergonomICs evaluation and Training of physical human-rObot collaboRation

摘要

Safety and ergonomics of Physical Human-Robot Collaboration (PHRC) are crucial to make human-robot collaborative systems trustworthy and make a significant impact in real-world applications. One big obstacle to the development of relevant research is the lack of a general platform for evaluating the safety and ergonomics of proposed PHRC systems. This paper aims to create a Physical emulatoR enabling safEty anD ergonomICs evaluation and Training of physical human-rObot collaboRation (PREDICTOR). PREDICTOR consists of a dual-arm robot system and a VR headset as its hardware and contains physical simulation, haptic rendering and visual rendering modules as its software. The dual-arm robot system is used as an integrated admittance-type haptic device, which senses the force/torque applied by a human operator as an input to drive the simulation of a PHRC system and constrains the handles' motion to match their virtual counterparts in the simulation. The motion of the PHRC system in the simulation is fed back to the operator through the VR headset. PREDICTOR combines haptics and VR to emulate PHRC tasks in a safe environment since the interactive forces are monitored to avoid any risky events. PREDICTOR also brings flexibility as different PHRC tasks can be easily set up by changing the PHRC system model and the robot controller in the simulation. The effectiveness and performance of PREDICTOR were evaluated by experiments.