|MESSERI COSTANZA||Cycle: XXXIV |
Section: Systems and Control
Tutor: BASCETTA LUCA
Advisor: ROCCO PAOLO Major Research topic
:Robot to human feedback in collaborative frameworks: investigating human perceptual models and operator awareness through augmented reality cuesAbstract:
The birth of the technological revolution known as Industry 4.0 has paved the way to new perspectives on collaborative robotics. To improve the effectiveness and the fluency of cooperation, the collaborative robot must be endowed with the capability of recognizing in advance the underlying intention of its human partner. In addition, the agent must elaborate a plan for its future activities that ensures adaptability to the human actions while optimizing a certain key performance index, such as maximizing the throughput or minimizing the cycle-time. In fact, even in human teams, one of the crucial elements for achieving a successful cooperation is to guarantee the mutual understanding among each other, as well as a synergic behaviour. Given the above, it seems essential to ensure that even the robot actions are comprehensible to the human partner. The purpose of this research is to formulate a model that represents how humans interpret the robot behaviour based on the observation of robot activities, to analyse the dependence of this model on human individual patterns and to improve the human experience during collaboration by providing an appropriate feedback to the operator. For what concerns this latter aspect, the current research activity is focusing on the advantages achievable by exploiting the augmented (AR) and mixed (MR) reality technology. The introduction of AR or MR devices in these industrial frameworks seems to be, to some extent, encouraged by the paradigm itself of the fourth industrial revolution which provides for the presence of highly interconnected systems and devices in industrial scenarios.