Safety Aura Visualization for Variable Impedance Actuated Robots

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages805-810
Number of pages6
ISBN (Electronic)9781538636152
DOIs
Publication statusPublished - Apr 25 2019
Event2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, France
Duration: Jan 14 2019Jan 16 2019

Publication series

NameProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019

Conference

Conference2019 IEEE/SICE International Symposium on System Integration, SII 2019
CountryFrance
CityParis
Period1/14/191/16/19

ASJC Scopus subject areas

  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering

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