Enhancing Human–Robot Collaboration Based on Hand Tracking Sensing and Cobot Speed Control

Title: Enhancing Human–Robot Collaboration Based on Hand Tracking Sensing and Cobot Speed Control
Author: Luis Piardi, Alexande Carelli Borsoi, Paulo Leitão
Affiliation: Research Centre in Digitalization and Intelligent Robotics (CeDRI),Instituto Politécnico de Bragança, Portugal
Abstract: The demand for co-work between humans and robots, especially with cobots, has been growing in the industry in general, and with it, the need for new ways to improve the efficiency and collaboration experience, making it more intuitive and safe. The objective of this work is to integrate the capability of sensing human hand pose to enhance the efficiency of human-robot collaboration. This is achieved by regulating the robot's speed using a fuzzy logic approach while simultaneously tracking the operator's hand movements. The proposed approach was validated through experiments with a real UR3 cobot, where different trajectories were executed in the presence of a artificial hand. The results demonstrate that the fuzzy-based speed control effectively ensures smooth and adaptive robot motion, preventing collisions while maintaining operational efficiency.

Видео Enhancing Human–Robot Collaboration Based on Hand Tracking Sensing and Cobot Speed Control канала IEEE Sensors