TY - GEN
T1 - Safety Aura Visualization for Variable Impedance Actuated Robots
AU - Makhataeva, Zhanat
AU - Zhakatayev, Altay
AU - Varol, Huseyin Atakan
N1 - Funding Information:
This work was supported by the grant "Methods for Safe Human Robot Interaction with VIA Robots" from the Ministry of Education and Science of the Republic of Kazakhstan and by the Nazarbayev University Faculty Development Program grant "Hardware and Software Based Methods for Safe Human-Robot Interaction with Variable Impedance Robots".
Publisher Copyright:
© 2019 IEEE.
PY - 2019/4/25
Y1 - 2019/4/25
N2 - This paper presents an augmented reality-based method to increase human cognitive awareness of the danger/safety in the workspace of a variable impedance actuated (VIA) robot. Specifically, the 'safety aura' around the robot was created using a safety/index defined for each point of the workspace. The safety-index is a composite metric incorporating the measurements of the distance from a point in the workspace to the VIA robot and the corresponding velocity during its motion. The safety aura is task-specific and is able to represent the safety levels in the workspace of the robot as it follows different trajectories. We developed a robot simulator which allows the visualization of the robot's motion and assessment of the corresponding safety aura in 3D space. The generated safety aura was overlaid into mixed reality using Unity 3D platform together with Vuforia and web camera. Simulation results demonstrated the ability of the safety metric based on distance and velocity measurements to qualitatively assess the amount of danger. Our method has the potential to make the physical human robot interaction safer.
AB - This paper presents an augmented reality-based method to increase human cognitive awareness of the danger/safety in the workspace of a variable impedance actuated (VIA) robot. Specifically, the 'safety aura' around the robot was created using a safety/index defined for each point of the workspace. The safety-index is a composite metric incorporating the measurements of the distance from a point in the workspace to the VIA robot and the corresponding velocity during its motion. The safety aura is task-specific and is able to represent the safety levels in the workspace of the robot as it follows different trajectories. We developed a robot simulator which allows the visualization of the robot's motion and assessment of the corresponding safety aura in 3D space. The generated safety aura was overlaid into mixed reality using Unity 3D platform together with Vuforia and web camera. Simulation results demonstrated the ability of the safety metric based on distance and velocity measurements to qualitatively assess the amount of danger. Our method has the potential to make the physical human robot interaction safer.
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U2 - 10.1109/SII.2019.8700332
DO - 10.1109/SII.2019.8700332
M3 - Conference contribution
AN - SCOPUS:85065638380
T3 - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
SP - 805
EP - 810
BT - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/SICE International Symposium on System Integration, SII 2019
Y2 - 14 January 2019 through 16 January 2019
ER -