Tell a friend
Print
Pereira, Aaron and Baumann, Mareike and Gerstner, Jonas and Althoff, Matthias (2022) Improving Efficiency of Human-Robot Coexistence While Guaranteeing Safety: Theory and User Study. IEEE Transactions on Automation Science and Engineering. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TASE.2022.3201970. ISSN 1545-5955.
This is the latest version of this item.
![[img]](https://elib.dlr.de/style/images/fileicons/application_pdf.png) |
PDF
- Postprint version (accepted manuscript)
3MB |
Official URL: https://ieeexplore.ieee.org/abstract/document/9875171
Abstract
Guaranteeing safety for humans in shared workspaces is not trivial. Not only must all possible situations be provably safe, but the human must feel safe as well. While robots are gradually leaving their cages, due to strict safety requirements, engineers often only replace physical cages with static safety zones - when the safety zone is entered, the robot is forced to stop. This can lead to excessive robot downtime. We present a concept for guaranteeing non-collision between humans and robots whilst maximising robot uptime and staying on-path. We evaluate how users react to this approach, in a trial over three non-consecutive days, compared to a control approach of static safety zones. We measure working efficiency as well as human factors such as trust, understanding of the robot, and perceived safety. Using our approach, the robot is indeed more efficient compared to static safety zones and the effect persists over multiple trials on separate days. We also observed that understanding of the robot's movement increased for our method over the course of trials, and the perceived safety of the robot increased for both our method and the control.
| Item URL in elib: | https://elib.dlr.de/191948/ | ||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Document Type: | Article | ||||||||||||||||||||
| Title: | Improving Efficiency of Human-Robot Coexistence While Guaranteeing Safety: Theory and User Study | ||||||||||||||||||||
| Authors: |
| ||||||||||||||||||||
| Date: | 2 September 2022 | ||||||||||||||||||||
| Journal or Publication Title: | IEEE Transactions on Automation Science and Engineering | ||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||||||
| DOI: | 10.1109/TASE.2022.3201970 | ||||||||||||||||||||
| Publisher: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||
| Series Name: | IEEE Transactions on Automation Science and Engineering | ||||||||||||||||||||
| ISSN: | 1545-5955 | ||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||
| Keywords: | Robots, Safety, Trajectory, Collision avoidance, Monitoring, Safe human-robot coexistence, Human factors, Formal verification | ||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||
| HGF - Program Themes: | Robotics | ||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||
| DLR - Program: | R RO - Robotics | ||||||||||||||||||||
| DLR - Research theme (Project): | R - Autonomy & Dexterity [RO], R - Autonomous learning robots [RO] | ||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation Institute of Robotics and Mechatronics (since 2013) | ||||||||||||||||||||
| Deposited By: | Birkenkampf, Peter | ||||||||||||||||||||
| Deposited On: | 16 Dec 2022 11:15 | ||||||||||||||||||||
| Last Modified: | 16 Dec 2022 11:15 |
Available Versions of this Item
- Improving Efficiency of Human-Robot Coexistence While Guaranteeing Safety: Theory and User Study. (deposited 16 Dec 2022 11:15) [Currently Displayed]
Repository Staff Only: item control page
