Modelling simple human-robot collaborative manufacturing tasks in interactive virtual environments

This paper presents in brief a novel interactive Virtual Environment (VE) that simulates in real-time collaborative manufacturing tasks between a human and an industrial robotic manipulator, working in close proximity, while sharing their workspaces. The use case scenario is highly collaborative and incorporates a wide variety of interaction tasks, such as: collaborative handling, manipulation, removal, placement and laying of carbon fabric composite parts. A Kinect sensor and a Head Mounted Display (Oculus Rift) are employed as 3D User Interfaces for interaction, immersion and skeletal tracking of the user motion. In this paper, particular emphasis is given to the various interaction techniques used to facilitate implementation of virtual Human-Robot Collaboration (HRC). The collaborative tasks are principally executed with contactless, natural and direct interaction. In addition, two novel interaction metaphors were developed. The real fabric laying task and the backing film removal task are reproduced in the VE with the implementation of the "follow-my-hand" technique; the user has to follow with his hand a virtual hand-like index (guide) that moves along a predefined pattern. Preliminary findings concerning the effectiveness of HRC modelling tasks are positive, and are briefly discussed.