Constantin Scholz , Hoang-Long Cao , Emil Imrith , Nima Roshandel , Hamed Firouzipouyaei , Aleksander Burkiewicz , Milan Amighi , Sebastien Menet , Dylan Warawout Sisavath , Antonio Paolillo , Xavier Rottenberg , Peter Gerets, David Cheyns , Marcus Dahlem , Ilja Ocket , Jan Genoe ,  Kathleen Philips, Ben Stoffelen , Jeroen Van den Bosch , Steven Latre  and Bram Vanderborght 

ABSTRACT 

Sensors are integrated into collaborative robot systems to ensure the safety of human workers by allowing them to perceive their environments, detect human presence, and adjust their actions accordingly. This preferred
reporting items for systematic reviews and meta-analyses extension for scoping review (PRISMA-ScR) focuses on current sensor-enabled safety systems for human–robot collaboration (HRC) in the manufacturing industry based
on both scientific papers and patents. From the initial search of 6669 references, 281 underwent full-text review and segmentation based on the sensor technology, installation location, and safety operating mode according to the ISO/TS 15066 standard. In the last decade, there has been a clear trend of increasing sensor-enabled safety systems. The dominant sensors used are infrared (IR)-structured light, capacitive, light detection and ranging (LiDAR), resistive, stereo/depth camera, RaDAR, and laser scanners. The primary safety operating mode identified was speed and separation monitoring (SSM). Some systems integrate multiple sensor types, with the most common combinations being LiDAR with stereo cameras or LiDAR with capacitive sensors, and laser scanners with RaDAR. We suggest multisensor integration and standardized benchmarks for future development. This review is among the few that employ the PRISMA-P protocol to study sensor technologies and contribute to a more systematic understanding of the current state of the art in this area.

Constantin Scholz, Hoang-Long Cao, Ilias El Makrini, Bram Vanderborght

ABSTRACT

Robot-to-human communication is important for mutual understanding during human-robot collaboration. Most of the current collaborative robots (cobots) are designed with low levels of anthropomorphism. Therefore, the ability of cobots to express human-like communication is limited. In this work, we present an open-source platform named Antropo to increase the level of anthropomorphism of Franka Emika - a widely used collaborative robot arm. The Antropo platform includes three modules: a camera module for expressing eye gaze, a light module for visual feedback, and a sound module for acoustic feedback. These modules can be rapidly prototyped through 3D printers, laser-cutters, and off-the-shelf components available at a low cost. The Antropo platform can be easily installed on the Franka Emika robot. The added communication channels can be synchronised with the robot's motions to enhance mutual understanding. All hardware CAD design files and software files are released. The platform can be used to study human-like behaviours of cobots and the effects of these behaviours on different aspects of human-robot collaboration. We demonstrate the Antropo platform in an assembly task in which the Franka Emika robot expresses various human-like communicative behaviours via the added communication channels. We also present two industrial applications in which the Antropo platform was customised for the Universal Robots UR16e.

ABSTRACT

In the evolving field of industrial automation, operator awareness of robot actions and intentions is critical for safety and efficiency, especially when working in close proximity to robots. From the robot-to-human communication angle, a collaborative robot (cobot) is expected to express its internal states and monitor task progress. Various traditional communication modalities (e.g., tower light, external screen, LED ring, and sound) often fall short of conveying nuanced information, while a flexible display curved around the cobot arm using organic light-emitting diode (OLED) technology provides a potential advantage. Integrated seamlessly with the robot, this interface enhances interaction by displaying text and video, enriching communication, and positively influencing the human-robot collaboration experience. In this work, we investigate a novel integrated flexible OLED display technology used as a robotic skin-interface to improve robot-to-human communication in a real industrial setting at Volkswagen (VW), following a user-centric Double-Diamond co-design process. We first conducted a co-design workshop with six operator representatives to collect their ideas and expectations on how the robot should communicate with them. The gathered information was used to design an interface for a collaborative human-robot interaction task in motor assembly. The interface was implemented in a workcell and validated qualitatively with a small group of operators (n=9) and quantitatively with a large group (n=42). The validation results showed that using flexible OLED technology could improve the operators’ attitude toward the robot, increase their intention to use the robot, enhance perceived enjoyment, social influence, and trust, and reduce their anxiety.