Safety Aura Visualization for Variable Impedance Actuated Robots

Zhanat Makhataeva; Altay Zhakatayev; Huseyin Atakan Varol

doi:10.1109/SII.2019.8700332

Safety Aura Visualization for Variable Impedance Actuated Robots

Department of Robotics and Mechatronics

Nazarbayev University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

15 Citations (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 language	English
Title of host publication	Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	805-810
Number of pages	6
ISBN (Electronic)	9781538636152
DOIs	https://doi.org/10.1109/SII.2019.8700332
Publication status	Published - Apr 25 2019
Event	2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, France Duration: Jan 14 2019 → Jan 16 2019

Publication series

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

Conference

Conference	2019 IEEE/SICE International Symposium on System Integration, SII 2019
Country/Territory	France
City	Paris
Period	1/14/19 → 1/16/19

Funding

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".

ASJC Scopus subject areas

Atomic and Molecular Physics, and Optics
Electrical and Electronic Engineering

Access to Document

10.1109/SII.2019.8700332

Cite this

Makhataeva, Z., Zhakatayev, A., & Varol, H. A. (2019). Safety Aura Visualization for Variable Impedance Actuated Robots. In Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019 (pp. 805-810). Article 8700332 (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2019.8700332

Safety Aura Visualization for Variable Impedance Actuated Robots. / Makhataeva, Zhanat; Zhakatayev, Altay ; Varol, Huseyin Atakan.
Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 805-810 8700332 (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Makhataeva, Z, Zhakatayev, A & Varol, HA 2019, Safety Aura Visualization for Variable Impedance Actuated Robots. in Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019., 8700332, Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019, Institute of Electrical and Electronics Engineers Inc., pp. 805-810, 2019 IEEE/SICE International Symposium on System Integration, SII 2019, Paris, France, 1/14/19. https://doi.org/10.1109/SII.2019.8700332

Makhataeva Z, Zhakatayev A , Varol HA. Safety Aura Visualization for Variable Impedance Actuated Robots. In Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 805-810. 8700332. (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019). doi: 10.1109/SII.2019.8700332

Makhataeva, Zhanat ; Zhakatayev, Altay ; Varol, Huseyin Atakan. / Safety Aura Visualization for Variable Impedance Actuated Robots. Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 805-810 (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019).

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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.",

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Safety Aura Visualization for Variable Impedance Actuated Robots

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