0707_ Paper

 https://link.springer.com/chapter/10.1007/978-3-030-28619-4_26

pringer Proceedings in Advanced Robotics book series

Communicating Robot Arm Motion Intent Through Mixed Reality Head-Mounted Displays

Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues. However, robots often have difficulty efficiently communicating their motion intent to humans via these methods. Many existing methods for robot motion intent communication rely on 2D displays, which require the human to continually pause their work and check a visualization. We propose a mixed reality head-mounted display visualization of the proposed robot motion over the wearer’s real-world view of the robot and its environment. To evaluate the effectiveness of this system against a 2D display visualization and against no visualization, we asked 32 participants to labeled different robot arm motions as either colliding or non-colliding with blocks on a table. We found a 16% increase in accuracy with a 62% decrease in the time it took to complete the task compared to the next best system. This demonstrates that a mixed-reality HMD allows a human to more quickly and accurately tell where the robot is going to move than the compared baselines.

Background: 사람과 로봇이 함께 배치된 작업 환경에서 안전을 위해 효율적인 커뮤니케이션 방법이 필요하다.

Problem: 로봇은 인간의 제스쳐, 시선을 통해 동작의도를 설명할 수 없기 때문에 사람이 지속적으로 모니터를 통해 로봇의 작업내용을 확인해야 한다.

Solution: 혼합현실 헤드마운트 디스플레이를 통해 로봇의 동작 내용을 전달한다.

Result: 32명의 실험 참가자를 대상으로 조사한 결과 작업을 완료하는데 걸리는 시간이 62% 단축되고 정확도가 16% 향상되었다. 

?? : 혼합현실을 헤드마운트 디스플레이를 사용하면 인간이 로봇의 위치와 이동 정보를 더 빠르고 정확하게 알 수 있다.