Search Results (479)

The advent of collaborative and soft robotics has reduced the mandatory adoption of safety barriers, pushing human–robot interaction to previously unreachable levels. Due to their reciprocal advantages, integrating these technologies can maximize a device’s performance. However, simplifying assumptions or elementary geometries are often required due to non-linear factors that identify analytical models for designing soft pneumatic actuators for collaborative and soft robotics. Over time, various approaches have been employed to overcome these issues, including finite element analysis, response surface methodology (RSM), and machine learning (ML) algorithms. Based on the latter, in this study, the bending behavior of an externally reinforced soft pneumatic actuator was characterized by the changing geometric and functional parameters, realizing a Bend dataset. This was used to train 14 regression algorithms, and the Bilayered neural network (BNN) was the best. Three different external reinforcements, excluded for the realization of the dataset, were tested by comparing the predicted and experimental bending angles. The BNN demonstrated significantly lower error than that obtained by RSM, validating the methodology and highlighting how ML techniques can advance the prediction and mechanical design of soft pneumatic actuators. Full article

The field of ergonomics has been significantly shaped by the advent of evolving technologies linked to new industrial paradigms, often referred to as Industry 4.0 (I4.0) and, more recently, Industry 5.0 (I5.0). Consequently, several studies have reviewed the integration of advanced technologies for improved ergonomics in different industry sectors. However, studies often evaluate specific technologies, such as extended reality (XR), wearables, artificial intelligence (AI), and collaborative robot (cobot), and their advantages and problems. In this sense, there is a lack of research exploring the state of the art of I4.0 and I5.0 virtual and digital technologies in evaluating work-related biomechanical risks. Addressing this research gap, this study presents a comprehensive review of 24 commercial tools and 10 academic studies focusing on work-related biomechanical risk assessment using digital and virtual technologies. The analysis reveals that AI and digital human modelling (DHM) are the most commonly utilised technologies in commercial tools, followed by motion capture (MoCap) and virtual reality (VR). Discrepancies were found between commercial tools and academic studies. However, the study acknowledges limitations, including potential biases in sample selection and search methodology. Future research directions include enhancing transparency in commercial tool validation processes, examining the broader impact of emerging technologies on ergonomics, and considering human-centred design principles in technology integration. These findings contribute to a deeper understanding of the evolving landscape of biomechanical risk assessment. Full article

In the Industry 4.0 scenario, human–robot collaboration (HRC) plays a key role in factories to reduce costs, increase production, and help aged and/or sick workers maintain their job. The approaches of the ISO 11228 series commonly used for biomechanical risk assessments cannot be applied in Industry 4.0, as they do not involve interactions between workers and HRC technologies. The use of wearable sensor networks and software for biomechanical risk assessments could help us develop a more reliable idea about the effectiveness of collaborative robots (coBots) in reducing the biomechanical load for workers. The aim of the present study was to investigate some biomechanical parameters with the 3D Static Strength Prediction Program (3DSSPP) software v.7.1.3, on workers executing a practical manual material-handling task, by comparing a dual-arm coBot-assisted scenario with a no-coBot scenario. In this study, we calculated the mean and the standard deviation (SD) values from eleven participants for some 3DSSPP parameters. We considered the following parameters: the percentage of maximum voluntary contraction (%MVC), the maximum allowed static exertion time (MaxST), the low-back spine compression forces at the L4/L5 level (L4Ort), and the strength percent capable value (SPC). The advantages of introducing the coBot, according to our statistics, concerned trunk flexion (SPC from 85.8% without coBot to 95.2%; %MVC from 63.5% without coBot to 43.4%; MaxST from 33.9 s without coBot to 86.2 s), left shoulder abdo-adduction (%MVC from 46.1% without coBot to 32.6%; MaxST from 32.7 s without coBot to 65 s), and right shoulder abdo-adduction (%MVC from 43.9% without coBot to 30.0%; MaxST from 37.2 s without coBot to 70.7 s) in Phase 1, and right shoulder humeral rotation (%MVC from 68.4% without coBot to 7.4%; MaxST from 873.0 s without coBot to 125.2 s), right shoulder abdo-adduction (%MVC from 31.0% without coBot to 18.3%; MaxST from 60.3 s without coBot to 183.6 s), and right wrist flexion/extension rotation (%MVC from 50.2% without coBot to 3.0%; MaxST from 58.8 s without coBot to 1200.0 s) in Phase 2. Moreover, Phase 3, which consisted of another manual handling task, would be removed by using a coBot. In summary, using a coBot in this industrial scenario would reduce the biomechanical risk for workers, particularly for the trunk, both shoulders, and the right wrist. Finally, the 3DSSPP software could be an easy, fast, and costless tool for biomechanical risk assessments in an Industry 4.0 scenario where ISO 11228 series cannot be applied; it could be used by occupational medicine physicians and health and safety technicians, and could also help employers to justify a long-term investment. Full article

This paper presents the development of a multidisciplinary learning model using automated guided vehicles (AGVs) and autonomous mobile robots (AMRs) for laboratory courses, focusing on Industry 4.0 and 5.0 paradigms. Industry 4.0 and 5.0 emphasize advanced industrial automation and human–robot collaboration, which requires innovative educational strategies. Motivated by the need to align educational practices with these industry trends, the goal of this research is to design and implement an effective educational model integrating AGV and AMR. The methodology section details the complex development process, including technology selection, curriculum design, and laboratory exercise design. Data collection and analysis were conducted to assess the effectiveness of the model. The design phase outlines the structure of the educational model, integrating AGV and AMR into the laboratory modules and enriching them with industry collaboration and practical case studies. The results of a pilot implementation are presented, showing the impact of the model on students’ learning outcomes compared to traditional strategies. The evaluation reveals significant improvements in student engagement and understanding of industrial automation. The implications of these findings are discussed, challenges and potential improvements identified, and alignment with current educational trends discussed. Full article

Collaboration between humans and machines is the core of the Industry 5.0 paradigm, and collaborative robotics is one the most impactful enabling technologies for small and medium Enterprises (SMEs). In fact, small batch production and high levels of product customization make parts assembly one of the most challenging operations to be automated, and it often still depends on the versatility of human labor. Collaborative robots, for their part, can be easily integrated in this productive paradigm, as they have been specifically developed for coexistence with human beings. This work investigates the performance of collaborative robots in machine parts assembly. Design and research activities were carried out as a case study of industrial relevance at the i-Labs industry laboratory, a pole of innovation that is briefly introduced at the beginning of the paper. A fully-functional prototype of the cobotized station was realized at the end of the project, and several experimental tests were performed to validate the robustness of the assembly process as well as the collaborative nature of the application. Full article

Object detection is a crucial capability of autonomous agents for human–robot collaboration, as it facilitates the identification of the current processing state. In industrial scenarios, it is uncommon to have comprehensive knowledge of all the objects involved in a given task. Furthermore, training during deployment is not a viable option. Consequently, there is a need for a detector that is able to adapt to novel objects during deployment without the necessity of retraining or fine-tuning on novel data. To achieve this, we propose to exploit the ability of discriminative embeddings learned by an object re-identification model to generalize to unknown categories described by a few shots. To do so, we extract object crops with a class-agnostic detector and then compare the object features with the prototypes of the novel objects. Moreover, we demonstrate that the embedding is also effective for predicting regions of interest, which narrows the search space of the class-agnostic detector and, consequently, increases processing speed. The effectiveness of our approach is evaluated in an assembly scenario, wherein the majority of objects belong to categories distinct from those present in the training datasets. Our experiments demonstrate that, in this scenario, our approach outperforms the current best few-shot object-detection approach DE-ViT, which also does not perform fine-tuning on novel data, in terms of both detection capability and inference speed. Full article

Agriculture is being transformed through automation and robotics to improve efficiency and reduce production costs. However, this transformation poses risks of job loss, particularly for low-skilled workers, as automation decreases the need for human labor. To adapt, the workforce must acquire new qualifications to collaborate with automated systems or shift to roles that leverage their unique human abilities. In this study, 15 agricultural occupations were methodically mapped in a cognitive/manual versus routine/non-routine two-dimensional space. Subsequently, each occupation’s susceptibility to robotization was assessed based on the readiness level of existing technologies that can automate specific tasks and the relative importance of these tasks in the occupation’s execution. The qualifications required for occupations less impacted by robotization were summarized, detailing the specific knowledge, skills, and work styles required to effectively integrate the emerging technologies. It was deduced that occupations involving primary manual routine tasks exhibited the highest susceptibility rate, whereas occupations with non-routine tasks showed lower susceptibility. To thrive in this evolving landscape, a strategic combination of STEM (science, technology, engineering, and mathematics) skills with essential management, soft skills, and interdisciplinary competences is imperative. Finally, this research stresses the importance of strategic preparation by policymakers and educational systems to cultivate key competencies, including digital literacy, that foster resilience, inclusivity, and sustainability in the sector. Full article

The expression of robot arm morphology is a critical foundation for achieving effective motion planning and collision avoidance in robotic systems. Traditional geometry-based approaches usually suffer from the contradiction between the high demand for computing resources for fine expression and the insufficient detail expression caused by the pursuit of efficiency. The signed distance function addresses these drawbacks due to its ability to handle complex and arbitrary shapes and lower computational requirements. However, conventional robotic morphology methods based on the signed distance function often face challenges when the robot moves dynamically, since robots with different postures are modeled as independent individuals but the postures of robots are infinite. In this paper, we introduce RobotSDF, an implicit morphology modeling approach that can express the robot shape of arbitrary posture precisely. Instead of depicting a whole model of the robot arm, RobotSDF models the robot morphology as integrated implicit joint models driven by joint configurations. In this approach, the dynamic shape change process of the robot is converted into the coordinate transformations of query points within each joint’s coordinate system. Experimental results with the Elfin robot demonstrate that RobotSDF can accurately depict robot shapes across different postures up to the millimeter level, which exhibits $38.65\%$ and $66.24\%$ improvement over the Neural-JSDF and configuration space distance field algorithms, respectively, in representing robot morphology. We further verified the efficiency of RobotSDF through collision avoidance in both simulation and actual human–robot collaboration experiments. Full article

This study investigates the relationship between collaborative robot (CR) parameters and worker utilization and system performance in human–robot collaboration (HRC) environments. We investigated whether optimized parameters increase workplace efficiency and whether adapting these parameters to the individual worker improves workplace outcomes. Three experimental scenarios with different CR parameters were analyzed in terms of the setup time, assembly time, finished products, work in process, and worker utilization. The main results show that personalized CR parameters significantly improve efficiency and productivity. The scenario in which CR parameters were tailored to individual workers, balanced the workload, and minimized worker stress, resulting in higher productivity compared to non-people-centric settings. The study shows that personalization reduces cognitive and physical stress, promotes worker well-being, and is consistent with the principles of human-centered manufacturing. Overall, our research supports the adoption of personalized, collaborative workplace parameters, supported by the mathematical model, to optimize employee efficiency and health, contributing to human-centered and efficient HRC environments. Full article

The current building industry is facing challenges of labor shortages and labor-intensive practices. Effectively collaborating with robots will be crucial for industry upgrading. This research introduces a MR iterative design and robot-assisted construction mode based on human–robot collaboration, facilitating an integrated process innovation from design to construction. The development of the ROCOS (Robot Collaboration System) comprises three key aspects: (1) Layout Stage: using MR technology to layout the site, forming a full-scale integrated virtual and physical digital twin design environment. (2) Design Stage: conducting virtual iterative design in the digital twin environment and automatically simulating assembly processes. (3) Assembly Stage: translating simulated results into assembly path commands and driving a robotic arm to perform actual assembly. In the end, this research setup two experiments to examine the feasibility of this iterative design–construction loop script. The results showed that although the presence of obstacles reduced the designer’s freedom and increased the number of steps, the designer could still finish both tasks. This means that the ROCOS has value in the prototype of human–robot collaboration. In addition, some valuable findings from users’ feedback showed that potential improvements can be addressed in operability, customization, and real construction scenarios. Full article

For nearly three decades, researchers have explored the use of augmented reality for facilitating collaboration between humans and robots. In this survey paper, we review the prominent, relevant literature published since 2008, the last date that a similar review article was published. We begin with a look at the various forms of the augmented reality (AR) technology itself, as utilized for human–robot collaboration (HRC). We then highlight specific application areas of AR for HRC, as well as the main technological contributions of the literature. Next, we present commonly used methods of evaluation with suggestions for implementation. We end with a look towards future research directions for this burgeoning field. This review serves as a primer and comprehensive reference for those whose work involves the combination of augmented reality with any kind of human–robot collaboration. Full article

Robots with flexible joints are gaining importance in areas such as collaborative robots (cobots), exoskeletons, and prostheses. They are meant to directly interact with humans, and the emphasis in their construction is not on precision but rather on weight reduction and soft interaction with humans. Well-known rigid robot control strategies are not valid in this area, so new control methods have been proposed to deal with the complexity introduced by elasticity. Some of these methods are seldom used and are unknown to most of the academic community. After selecting the methods, we carried out a comprehensive comparative study of algorithms: simple gravity compensation (Sgc), the singular perturbation method (Spm), the passivity-based approach (Pba), backstepping control design (Bcd), and exact gravity cancellation (Egc). We modeled these algorithms using MATLAB and simulated them for different stiffness levels. Furthermore, their practical implementation was analyzed from the perspective of the magnitudes to be measured and the computational costs of their implementation. In conclusion, the Sgc method is a fast and affordable solution if joint stiffness is relatively high. If good performance is necessary, the Pba is the best option. Full article

In open-field agricultural environments, the inherent unpredictable situations pose significant challenges for effective human–robot interaction. This study aims to enhance natural communication between humans and robots in such challenging conditions by converting the detection of a range of dynamic human movements into specific robot actions. Various machine learning models were evaluated to classify these movements, with Long Short-Term Memory (LSTM) demonstrating the highest performance. Furthermore, the Robot Operating System (ROS) software (Melodic Version) capabilities were employed to interpret the movements into certain actions to be performed by the unmanned ground vehicle (UGV). The novel interaction framework exploiting vision-based human activity recognition was successfully tested through three scenarios taking place in an orchard, including (a) a UGV following the authorized participant; (b) GPS-based navigation to a specified site of the orchard; and (c) a combined harvesting scenario with the UGV following participants and aid by transporting crates from the harvest site to designated sites. The main challenge was the precise detection of the dynamic hand gesture “come” alongside navigating through intricate environments with complexities in background surroundings and obstacle avoidance. Overall, this study lays a foundation for future advancements in human–robot collaboration in agriculture, offering insights into how integrating dynamic human movements can enhance natural communication, trust, and safety. Full article

Object detection and human action recognition have great significance in many real-world applications. Understanding how a human being interacts with different objects, i.e., human–object interaction, is also crucial in this regard since it enables diverse applications related to security, surveillance, and immersive reality. Thus, this study explored the potential of using a wearable camera for object detection and human–object interaction recognition, which is a key technology for the future Internet and ubiquitous computing. We propose a system that uses an egocentric camera view to recognize objects and human–object interactions by analyzing the wearer’s hand pose. Our novel idea leverages the hand joint data of the user, which were extracted from the egocentric camera view, for recognizing different objects and related interactions. Traditional methods for human–object interaction rely on a third-person, i.e., exocentric, camera view by extracting morphological and color/texture-related features, and thus, often fall short when faced with occlusion, camera variations, and background clutter. Moreover, deep learning-based approaches in this regard necessitate substantial data for training, leading to a significant computational overhead. Our proposed approach capitalizes on hand joint data captured from an egocentric perspective, offering a robust solution to the limitations of traditional methods. We propose a machine learning-based innovative technique for feature extraction and description from 3D hand joint data by presenting two distinct approaches: object-dependent and object-independent interaction recognition. The proposed method offered advantages in computational efficiency compared with deep learning methods and was validated using the publicly available HOI4D dataset, where it achieved a best-case average F1-score of 74%. The proposed system paves the way for intuitive human–computer collaboration within the future Internet, enabling applications like seamless object manipulation and natural user interfaces for smart devices, human–robot interactions, virtual reality, and augmented reality. Full article

This study explores the effectiveness of vertical force control in in-wheel motors (IWMs) to enhance ride comfort in electric vehicles (EVs). A dynamic vehicle model and a proportional ride-blending controller were used to reduce vertical vibrations of the sprung mass. By converting the state-space model into a transfer function, the system’s frequency response was evaluated using road profiles generated according to ISO 8608 standards and converted into Power Spectral Density (PSD) inputs. The frequency-weighted acceleration ($a_w$) was calculated based on ISO 2631 standards to measure ride comfort improvements. The results showed that increasing the proportional gain ($K_p$) effectively reduced the frequency-weighted acceleration and the RMS of the vertical acceleration of the sprung mass. However, the proportional gain could not be increased indefinitely due to the torque limitations of the IWMs. Optimal proportional gains for various road profiles demonstrated significant improvements in ride comfort. This study concludes that advanced suspension technologies, including the proportional ride-blending controller, can effectively mitigate the challenges of increased unsprung mass in IWM vehicles, thereby enhancing ride quality and vehicle dynamics. Full article