2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)最新文献_第3页

Digital planning of ability-appropriate and productive human-robot interactions in production 生产中人机交互能力适当和高效的数字化规划

2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2023-06-05 DOI: 10.1109/ARSO56563.2023.10187520

M. Spitzhirn, C. Gärtner, L. Fritzsche

{"title":"Digital planning of ability-appropriate and productive human-robot interactions in production","authors":"M. Spitzhirn, C. Gärtner, L. Fritzsche","doi":"10.1109/ARSO56563.2023.10187520","DOIUrl":"https://doi.org/10.1109/ARSO56563.2023.10187520","url":null,"abstract":"Hybrid work systems, which enable interaction between humans and robots, offer high economic and ergonomic potential. This paper demonstrates how workplaces can be designed with regard to human-robot-interaction (HRI) using the process simulation tool ema Work Designer (emaWD). A method for simulation-aided planning of HRI tasks is introduced and applied to a real-world use case of handling and assembling turbochargers onto an engine. In planning process the work processes are simulated and assessed regarding automation, ergonomic and economic potential. Furthermore, a capability-oriented task allocation including workers with different abilities (anthropometrics, flexibility, strength related to aging) as well as the technical feasibility of different robots are considered and evaluated using the HRI-simulation approach. In the result a new HRI-workplace is developed in which the UR10e robot take over manual load handling tasks and acting as a third hand to ensure a worker-specific favorable working position. These measures reduce the ergonomic risk according to the EAWS-method from high risk to a low risk level for all workers. Also, person with limitations can be included into the work process. The execution time of the HRI system is 41.3s, which is within the allowed cycle time. By using a collaborative robot, no additional space is required. Due to the integrated safety technology, the robot can work directly in the work area of the workers.","PeriodicalId":382832,"journal":{"name":"2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"12 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130926809","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Practical Control Approach for Safe Collaborative Supernumerary Robotic Arms 一种实用的安全协同多机械臂控制方法

2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2023-06-05 DOI: 10.1109/ARSO56563.2023.10187452

Mahdi Khoramshahi, Alexis Poignant, G. Morel, N. Jarrassé

引用次数: 1

Teleoperating a robot for removing asbestos tiles on roofs: insights from a pilot study 遥控机器人移走屋顶上的石棉瓦:来自试点研究的见解

2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2023-06-05 DOI: 10.1109/ARSO56563.2023.10187476

S. Ivaldi, Edoardo Ghini

引用次数: 0

The effect of an empathy-eliciting intervention on the perception of telepresence robot users * 移情诱导干预对远程呈现机器人用户感知的影响*

2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2023-06-05 DOI: 10.1109/ARSO56563.2023.10187570

A. Asadi, K. Fischer

{"title":"The effect of an empathy-eliciting intervention on the perception of telepresence robot users *","authors":"A. Asadi, K. Fischer","doi":"10.1109/ARSO56563.2023.10187570","DOIUrl":"https://doi.org/10.1109/ARSO56563.2023.10187570","url":null,"abstract":"Telepresence robots can be used in different contexts with different goals; for example, to help remote individuals virtually attend classes and meetings, or to allow healthcare workers and patients in different locations to remain in touch. Although these robots bring about different advantages to mediated communication, telepresence pilots have been found to be perceived less favorably than people who are physically present in a communicative context [1]. Thus, in the current work, to mitigate the negative effects of using a telepresence robot, we examine whether an intervention to elicit empathy can influence the way remote participants are perceived. To this end, in a within-subject design, we asked participants (N=30) to follow text-based instructions to do a language learning activity in groups of three, in which one of the participants used a GoBe telepresence robot to join other co-situated group members. We embedded an intervention designed to create empathy with the telepresence operator in the last section of the activity and used two questionnaires, one before and one after the intervention, to collect participants' subjective evaluations of each other. Findings suggest that after the empathy-eliciting question, participants found the telepresence robot user significantly more trustworthy, reliable, and fascinated by art, music, or literature. Results indicate that the empathy-eliciting intervention has a positive effect on the way collocated participants perceive telepresence users.","PeriodicalId":382832,"journal":{"name":"2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123616503","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Human acceptance in the Human-Robot Interaction scenario for last-mile goods delivery 人机交互场景下最后一英里货物配送中的人类接受度

2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2023-06-05 DOI: 10.1109/ARSO56563.2023.10187432

Ana Puig-Pey, J. L. F. Zamora, B. Amante, J. Moreno, A. Garrell, A. Grau-Saldes, Y. Bolea, A. Santamaria, A. Sanfeliu

引用次数: 0

The body images of social robots 社交机器人的身体形象

2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2023-02-07 DOI: 10.1109/ARSO56563.2023.10187489

Bing-chuan Li, Oumayma Ajjaji, Robin Gigandet, Tatjana Nazir

{"title":"The body images of social robots","authors":"Bing-chuan Li, Oumayma Ajjaji, Robin Gigandet, Tatjana Nazir","doi":"10.1109/ARSO56563.2023.10187489","DOIUrl":"https://doi.org/10.1109/ARSO56563.2023.10187489","url":null,"abstract":"The rapid development of social robots has sparked a challenge for both robotics and cognitive sciences to comprehend how humans perceive the appearance of robots. This understanding is a crucial prerequisite for achieving successful human-robot symbiosis. To uncover people's perceptions and attitudes towards robots, we analyzed image-associated words generated spontaneously by humans for 30 robots developed in the past decades. These words delineated a body image for each of the robots. We then used word affective scales and embedding vectors to provide evidence for links between human perception and the body images. Our findings revealed that the valence and dominance of the body images reflected human attitudes toward the general concept of robots. The study further demonstrated that the user-base and usage of robots significantly influenced people's impressions of individual robots. Moreover, we investigated the psychological and cultural implications of the body images by examining semantic distances between the robots and a human-related word, as well as gender- and age-distinguished words. This analysis revealed a relationship between the semantic distances to the word “person” and the robots' affects, as well as gender and age stereotypes towards the robots. Our study demonstrated that using words to build body images for robots is an effective approach to understanding which features are appreciated by people and what influences their feelings towards robots.","PeriodicalId":382832,"journal":{"name":"2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121118714","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An Open Tele-Impedance Framework to Generate Data for Contact-Rich Tasks in Robotic Manipulation 一个开放的远程阻抗框架，为机器人操作中的丰富接触任务生成数据

2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) Pub Date : 2022-09-21 DOI: 10.1109/ARSO56563.2023.10187436

A. Giammarino, J. Gandarias, A. Ajoudani

{"title":"An Open Tele-Impedance Framework to Generate Data for Contact-Rich Tasks in Robotic Manipulation","authors":"A. Giammarino, J. Gandarias, A. Ajoudani","doi":"10.1109/ARSO56563.2023.10187436","DOIUrl":"https://doi.org/10.1109/ARSO56563.2023.10187436","url":null,"abstract":"Using large datasets in machine learning has led to outstanding results, in some cases outperforming humans in tasks that were believed impossible for machines. However, achieving human-level performance when dealing with physically interactive tasks, e.g., in contact-rich robotic manipulation, is still a big challenge. It is well known that regulating the Cartesian impedance for such operations is of utmost importance for their successful execution. Approaches like Reinforcement Learning (RL) can be a promising paradigm for solving such problems. More precisely, approaches that use task-agnostic expert demonstrations to bootstrap learning when solving new tasks have a huge potential since they can exploit large datasets. However, existing data collection systems are expensive, complex, or do not allow for impedance regulation. This work represents a first step towards a data collection framework suitable for collecting large datasets of impedance-based expert demonstrations compatible with the RL problem formulation, where a novel action space, namely Variable Impedance Control in End-effector Space (VICES), is used. The framework is designed according to requirements acquired after an extensive analysis of available data collection frameworks for robotics manipulation. The result is a low-cost and open-access tele-impedance framework which makes human experts capable of demonstrating contact-rich tasks.","PeriodicalId":382832,"journal":{"name":"2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO)","volume":"232 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116385510","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0