@article{HoecherlWredeSchlegl, author = {Hoecherl, Johannes and Wrede, Britta and Schlegl, Thomas}, title = {Developing human-robot assembly cells - Simulation, virtual interaction, and applications}, series = {ATP EDITION}, journal = {ATP EDITION}, number = {5}, publisher = {DIV DEUTSCHER INDUSTRIEVERLAG GMBH}, pages = {34 -- 42}, abstract = {In human-robot assembly cells, some tasks in a production process are carried out by the user, others by the robot, and some tasks are carried out in collaboration. However, the potential and advantages of such systems have not yet been fully harnessed. A systematic approach is needed to design cooperative workflows. Here, an iterative, user-centred development cycle is presented for interactive human-robot applications, complementing traditional automation. Virtual reality development is applied to evaluate the workflows to be defined and to develop a more efficient overall design cycle.}, language = {en} } @inproceedings{HoecherlSchmargendorfWredeetal., author = {Hoecherl, Johannes and Schmargendorf, Maike and Wrede, Britta and Schlegl, Thomas}, title = {User-Centered Design of Multimodal Robot Feedback for Cobots of Human-RobotWorking Cells in Industrial Production Contexts}, series = {50th International Symposium on Robotics (ISR 2018) : Munich, Germany, 20-21 June 2018}, booktitle = {50th International Symposium on Robotics (ISR 2018) : Munich, Germany, 20-21 June 2018}, publisher = {Curran Associates, Inc.}, address = {Red Hook, NY}, isbn = {978-3-8007-4699-6}, pages = {1 -- 8}, abstract = {This article discusses the systematic design of the robot feedback for users in a stationary human-robot cooperation scenario. The design cycle starts with the analysis of related work and the capabilities of the human-robot system. It is followed by an online questionnaire with 100 participants to discover relevant information and modalities. A final experiment in the human-robot working cell with 13 subjects evaluates the usability of the robot feedback design.}, language = {en} } @inproceedings{HoecherlWredeSchlegl, author = {H{\"o}cherl, Johannes and Wrede, Britta and Schlegl, Thomas}, title = {Motion Analysis of Human-Human and Human-Robot Cooperation During Industrial Assembly Tasks}, series = {Proceedings of the 5th International Conference on Human Agent Interaction (HAI '17), Bielefeld Germany, 17.10.2017 -20.10.2017}, booktitle = {Proceedings of the 5th International Conference on Human Agent Interaction (HAI '17), Bielefeld Germany, 17.10.2017 -20.10.2017}, editor = {Wrede, Britta and Nagai, Yukie and Komatsu, Takanori and Hanheide, Marc and Natale, Lorenzo}, publisher = {ACM}, address = {New York, NY, USA}, isbn = {9781450351133}, doi = {10.1145/3125739.3132615}, pages = {425 -- 429}, abstract = {This article discusses the relevance of the motion behavior and adaptation of a collaborative robot for human-robot cooperation. Two experiments on cooperative assembly are shown. First, a human-human experiment with defined test conditions evaluates the aspects of distance, nearest body part, and predictability as significant. Second, a human-robot experiment shows that fixed trajectories and conservative dynamic parameters lead to a quick gain of confidence of the participants. Besides, the data shows that a realistic use case with complex tasks is key to evaluate the impact of motion parameters.}, language = {en} } @inproceedings{HoecherlAdamSchlegletal., author = {H{\"o}cherl, Johannes and Adam, Andreas and Schlegl, Thomas and Wrede, Britta}, title = {Human-Robot Assembly: Methodical Design and Assessment of an Immersive Virtual Environment for Real-World Significance}, series = {2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA): 8-11 Sept. 2020, Vienna, Austria}, booktitle = {2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA): 8-11 Sept. 2020, Vienna, Austria}, publisher = {IEEE}, doi = {10.1109/ETFA46521.2020.9212039}, pages = {549 -- 556}, abstract = {Virtual reality is a powerful tool for industrial applications. The article at hand addresses designers of industrial virtual environments. It summarizes key aspects to design immersive and coherent virtual environments. Furthermore, relevant influencing factors for a high quality virtual environment and tools to quantify this quality are presented. So far, a methodology to design, evaluate, and transfer knowledge from virtual environments into reality has been missing and is of high value for industrial applications. The proposed methodical approach includes the steps application analysis, technology selection and integration, design of virtual environment, evaluation of simulator quality, as well as discussion of the real-world validity. The method is shown on the example of a virtual human-robot working cell used to analyze the human perception of robot behavior during mutual assembly processes. The quality of the virtual environment is evaluated to be adequate for those purposes and the transfer of knowledge gained in virtuality on a corresponding real-world application is discussed. To the best of our knowing a system like the presented one, including full-body tracking, finger tracking, a virtual avatar and a head-mounted display has not been used for industrial use cases and human-robot cooperation before.}, language = {en} } @article{HoecherlWredeSchlegl, author = {H{\"o}cherl, Johannes and Wrede, Britta and Schlegl, Thomas}, title = {Mensch-Roboter-Arbeitsabl{\"a}ufe methodisch entwickeln}, series = {atp edition (Automatisierungstechnische Praxis)}, volume = {59}, journal = {atp edition (Automatisierungstechnische Praxis)}, number = {5}, publisher = {DIV Dt. Industrieverlag}, address = {M{\"u}nchen}, issn = {2190-4111}, pages = {34 -- 42}, abstract = {In Mensch-Roboter-Arbeitszellen werden Teile eines Produktionsablaufs von einemv Menschen, andere von einem kollaborativen Roboter und wieder andere kooperativvin einem gemeinsamen Arbeitsbereich durchgef{\"u}hrt. Bisher werden das Potenzialvund der Mehrwert dieser Systeme noch nicht ausgesch{\"o}pft, weshalb ein systematischer Ansatz zur Definition der Arbeitsabl{\"a}ufe unerl{\"a}sslich ist. Der Beitrag pr{\"a}sentiert einen iterativen, menschzentrierten Entwicklungszyklus f{\"u}r interaktive Mensch-Roboter-Anwendungen. Dieser Zyklus erg{\"a}nzt die bisher verwendeten Ans{\"a}tze der Automatisierung. Er beinhaltet Methoden der virtuellen Realit{\"a}t, um die Arbeitsabl{\"a}ufe iterativ evaluieren und dadurch den Entwicklungsprozess effizient gestalten zu k{\"o}nnen.}, language = {de} }