TY - JOUR A1 - Hoecherl, Johannes A1 - Wrede, Britta A1 - Schlegl, Thomas T1 - Developing human-robot assembly cells - Simulation, virtual interaction, and applications JF - ATP EDITION N2 - 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. KW - ALLOCATION KW - human-robot assembly cell KW - hybrid automation KW - IMMIGRANTS KW - interactive workflows KW - SYSTEMS KW - task assignment KW - virtually supported development Y1 - 2017 IS - 5 SP - 34 EP - 42 PB - DIV DEUTSCHER INDUSTRIEVERLAG GMBH ER - TY - CHAP A1 - Hoecherl, Johannes A1 - Schmargendorf, Maike A1 - Wrede, Britta A1 - Schlegl, Thomas T1 - User-Centered Design of Multimodal Robot Feedback for Cobots of Human-RobotWorking Cells in Industrial Production Contexts T2 - 50th International Symposium on Robotics (ISR 2018) : Munich, Germany, 20-21 June 2018 N2 - 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. KW - Ausrüstungsentwurf KW - Maschinendesign KW - Online-Betrieb KW - Robotersystem KW - Roboterzelle KW - Systemdesign Y1 - 2018 UR - http://www.vde-verlag.de/proceedings-de/454699073.html SN - 978-3-8007-4699-6 SP - 1 EP - 8 PB - Curran Associates, Inc. CY - Red Hook, NY ER - TY - CHAP A1 - Höcherl, Johannes A1 - Wrede, Britta A1 - Schlegl, Thomas ED - Wrede, Britta ED - Nagai, Yukie ED - Komatsu, Takanori ED - Hanheide, Marc ED - Natale, Lorenzo T1 - Motion Analysis of Human-Human and Human-Robot Cooperation During Industrial Assembly Tasks T2 - Proceedings of the 5th International Conference on Human Agent Interaction (HAI '17), Bielefeld Germany, 17.10.2017 -20.10.2017 N2 - 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. Y1 - 2017 SN - 9781450351133 U6 - https://doi.org/10.1145/3125739.3132615 SP - 425 EP - 429 PB - ACM CY - New York, NY, USA ER - TY - CHAP A1 - Höcherl, Johannes A1 - Adam, Andreas A1 - Schlegl, Thomas A1 - Wrede, Britta T1 - Human-Robot Assembly: Methodical Design and Assessment of an Immersive Virtual Environment for Real-World Significance T2 - 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA): 8-11 Sept. 2020, Vienna, Austria N2 - 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. KW - assembly KW - Avatars KW - coherent virtual environment KW - Conferences KW - Design methodology KW - fidelity KW - Head-mounted displays KW - human-robot cooperation KW - immersive KW - industrial applications KW - Knowledge transfer KW - Manufacturing automation KW - real-world validity KW - Robots KW - simulator quality KW - system design KW - virtual environments KW - Virtual reality Y1 - 2020 U6 - https://doi.org/10.1109/ETFA46521.2020.9212039 SP - 549 EP - 556 PB - IEEE ER - TY - JOUR A1 - Höcherl, Johannes A1 - Wrede, Britta A1 - Schlegl, Thomas T1 - Mensch-Roboter-Arbeitsabläufe methodisch entwickeln BT - Konzeption, Simulation, virtuelle Interaktion, Anwendung / Simulation, virtual interaction, and applications JF - atp edition (Automatisierungstechnische Praxis) N2 - In Mensch-Roboter-Arbeitszellen werden Teile eines Produktionsablaufs von einemv Menschen, andere von einem kollaborativen Roboter und wieder andere kooperativvin einem gemeinsamen Arbeitsbereich durchgeführt. Bisher werden das Potenzialvund der Mehrwert dieser Systeme noch nicht ausgeschöpft, weshalb ein systematischer Ansatz zur Definition der Arbeitsabläufe unerlässlich ist. Der Beitrag präsentiert einen iterativen, menschzentrierten Entwicklungszyklus für interaktive Mensch-Roboter-Anwendungen. Dieser Zyklus ergänzt die bisher verwendeten Ansätze der Automatisierung. Er beinhaltet Methoden der virtuellen Realität, um die Arbeitsabläufe iterativ evaluieren und dadurch den Entwicklungsprozess effizient gestalten zu können. T2 - Developing human-robot assembly cells KW - Iterative, virtuell unterstützte Entwicklung KW - Mensch-Roboter-Arbeitszelle KW - interaktive Arbeitsabläufe KW - methodische Arbeitszuweisung KW - hybride Automatisierung KW - virtually supported development KW - human-robot assembly cel KW - interactive workflows KW - ask assignment KW - hybrid automation Y1 - 2017 SN - 2190-4111 VL - 59 IS - 5 SP - 34 EP - 42 PB - DIV Dt. Industrieverlag CY - München ER -