CoboGuider: Haptic Potential Fields for Safe Human-Robot Interaction

Viktor Rakhmatulin, Miguel Altamirano Cabrera, Fikre Hagos, Oleg Sautenkov, Jonathan Tirado, Ighor Uzhinsky, Dzmitry Tsetserukou

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


    Modern industry still relies on manual manufacturing operations and safe human-robot interaction is of great interest nowadays. Speed and Separation Monitoring (SSM) allows close and efficient collaborative scenarios by maintaining a protective separation distance during robot operation. The paper focuses on a novel approach to strengthen the SSM safety requirements by introducing haptic feedback to a robotic cell worker. Tactile stimuli provide early warning of dangerous movements and proximity to the robot, based on the human reaction time and instantaneous velocities of robot and op-erator. A preliminary experiment was performed to identify the reaction time of participants when they are exposed to tactile stimuli in a collaborative environment with controlled conditions. In a second experiment, we evaluated our approach into a study case where human worker and cobot performed collaborative planetary gear assembly. Results show that the applied approach increased the average minimum distance between the robot's end-effector and hand by 44% compared to the operator relying only on the visual feedback. Moreover, the participants without the haptic support have failed several times to maintain the protective separation distance.

    Original languageEnglish
    Title of host publication2021 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2021
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Number of pages6
    ISBN (Electronic)9781665442077
    Publication statusPublished - 2021
    Event2021 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2021 - Melbourne, Australia
    Duration: 17 Oct 202120 Oct 2021

    Publication series

    NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
    ISSN (Print)1062-922X


    Conference2021 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2021


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