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Improving Efficiency of Human-Robot Coexistence While Guaranteeing Safety: Theory and User Study

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.

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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:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Pereira, AaronUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Baumann, MareikeUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Gerstner, JonasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Althoff, MatthiasTechnical University of Munichhttps://orcid.org/0000-0003-3733-842XUNSPECIFIED
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

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  • Improving Efficiency of Human-Robot Coexistence While Guaranteeing Safety: Theory and User Study. (deposited 16 Dec 2022 11:15) [Currently Displayed]

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