Human-Robot Object Interaction
The focus of this research is the human-robot co-operation, interfacing and consequently the safety for the human operator. According to such purpose, the human forearm movements will be measured by means of a tracker in order to ensure a whole safe operation. Furthermore, the tracker and a dataglove operated by the human will lead the robot in a sort of master-slave tele-operation during the reaching and the grasping phases.
The robot has distributed position sensors and a torque/force sensor on the wrist joint, during the object handling, the robot sensors will be selectively ignored or deactivated (simulating a failure), while the tracker sensor will guarantee the sensor redundancy, which is mandatory for the safety.
The final achievement of this experiment will be the implementation of a robust control mixed with sensor redundancy, overcoming the sensor failure, or at least the identification of a severe failure, in a sort of tree fault analysis for a human-robot co-operation (specifically in the case of co-handling).
Human robot co-operation is one of the promising approaches to flexible manufacturing. The HUROBIN experiment is focused on the specific task of co-handling an object through a safe interaction: both the tele-operation and the coupled manipulation will be implemented in an integrated human-robot scenario.