Human–robot collaboration is becoming increasingly important in industrial assembly. In view of high cost pressure, resulting productivity requirements, and the trend towards human-centered automation in the context of Industry 5.0, a reasonabl...
Collaborative robots (Cobots) are compact machines programmable for a wide variety of tasks and able to ease operators’ working conditions. They can be therefore adopted in small and medium enterprises, characterized by small production batches...
To meet the control requirements of high precision and high robustness for peg-in-hole assembly tasks, an optimized control method for a peg-in-hole assembly task of a space manipulator is proposed to reduce the system disturbance caused by the chang...
We presented a biomimetic approach to designing robot-to-human handover of objects in a collaborative assembly task. We developed a human–robot hybrid cell where a human and a robot collaborated with each other to perform the assembly operation...
Conventional assembly methods using robots need to change end-effectors or operate two robot arms for assembly. In this study, we propose a screwdriving gripper that can perform the tasks required for the assembly using a single robot arm. The propos...
An AGV system can be used to transport different-size materials in an assembly line. The hybrid task allocation problem is involved in the assembly line, where both single-AGV tasks and multi-AGV tasks exist. However, there is little research on this...
Human–robot collaboration (HRC) is a new and challenging discipline that plays a key role in Industry 4.0. Digital transformation of industrial plants aims to introduce flexible production lines able to adapt to different products quickly. In t...
In human–robot collaborative assembly tasks, it is necessary to properly balance skills to maximize productivity. Human operators can contribute with their abilities in dexterous manipulation, reasoning and problem solving, but a bounded workload (co...
The assembly industry is shifting more towards customizable products, or requiring assembly of small batches. This requires a lot of reprogramming, which is expensive because a specialized engineer is required. It would be an improvement if untrained...
This work describes a layout to carry out a demonstrative assembly task, during which a collaborative robot performs pick-and-place tasks to supply an operator the parts that he/she has to assemble. In this scenario, the robot and operator share the...
This paper presents an integrated planner based on rapidly exploring random tree (RRT) for an assembly task with possible re-grasping. Given multiple grasp poses for the part to assemble, the planner chooses candidate grasp poses considering the envi...
Remote support in general is a method that saves time and resources. A relatively new and promising technology for remote support that combines video conferencing and physical mobility is that of telepresence systems. The remote assistant, that is, t...
Industries need a mechanism to monitor the workers’ safety and to prevent Work-related Musculoskeletal Disorders (WMSDs). The development of ergonomics assessment tools helps the industry evaluate workplace design and worker posture. Many studi...
In modern robot applications, there is often a need to manipulate previously unknown objects in an unstructured environment. The field of grasp-planning deals with the task of finding grasps for a given object that can be successfully executed with a...
In many current assembly scenarios, efficient collaboration between humans and robots can improve collaborative efficiency and quality. However, the efficient arrangement of human–robot collaborative (HRC) tasks constitutes a significant challe...
Human-robot collaboration combines the extended capabilities of humans and robots to create a more inclusive and human-centered production system in the future. However, human safety is the primary concern for manufacturing industries. Therefore, rea...
In most mass-production assembly lines, workers perform a set of tasks repetitively predefined by assembly line balancing techniques. The static task assignment often leads to low productivity when the assembly system faces disruptions or uncertainti...
The growing adoption of modular robotic systems presents new challenges in ensuring ease of assembly, deployment, and reconfiguration, especially for end-users with varying technical expertise. This study proposes and validates an Assembly Complexity...
The disruptive deployment of collaborative robots, named cobots, in Industry 5.0 has brought attention to the safety and ergonomic aspects of industrial human–robot interaction (HRI) tasks. In particular, the study of the operator’s menta...
The human–robot collaboration (HRC) solutions presented so far have the disadvantage that the interaction between humans and robots is based on the human’s state or on specific gestures purposely performed by the human, thus increasing th...
Currently, research on peg-in-hole (PiH) compliant assembly is predominantly limited to circular pegs and holes, with insufficient exploration of various complex-shaped PiH tasks. Furthermore, the degree of freedom for rotation about the axis of the...
This study explored how levels of automation (LOA) influence human robot collaboration when operating at different levels of workload. Two LOA modes were designed, implemented, and evaluated in an experimental collaborative assembly task setup for fo...
This study introduces a novel approach for minimizing assembly errors in wind turbine gearboxes using a hybrid optimization algorithm, Particle Swarm-Bacteria Foraging Optimization (PSBFO). By integrating error-driven task sequencing and real-time er...
(1) Background: Cognitive aspects and complexity in modern manual mixed model assembly are increasing. To reduce mental workload (MWL), informational assistance systems are introduced. The influence of complexity and used assistance system on MWL sho...
Robotic assembly lines are widely applied to mass production because of their adaptability and versatility. As we know, using robots will lead to energy-consumption and pollution problems, which has been a hot-button topic in recent years. In this pa...
Reliable detection of contact states, such as the “mating” of connectors, is crucial for high-quality teleoperated assembly. Conventional systems relying solely on visual and continuous force feedback often fail to convey these discrete h...
In recent years, the emergence of Industry 4.0 technologies has introduced manufacturing disruptions that necessitate the development of accompanying socio-technical solutions. There is growing interest for manufacturing enterprises to embrace the dr...
In manufacturing, traditional task pre-programming methods limit the efficiency of human–robot skill transfer. This paper proposes a novel task-learning strategy, enabling robots to learn skills from human demonstrations flexibly and generalize...
For the dual peg-in-hole compliance assembly task of upper and lower double-hole structural micro-devices, a skill-learning method is proposed. This method combines offline training in a simulation space and online training in a realistic space. In t...
This research deals with a U-shaped assembly line balancing problem in which items are fixed on the conveyor. Operators execute the assembly tasks without removing items from the conveyor as the assembly items are assumed to be unsuitable for manual...
Industry 4.0 is the fourth generation of industry which will theoretically revolutionize manufacturing methods through the integration of machine learning and artificial intelligence approaches on the factory floor to obtain robustness and speed-up p...
In recent years, assembly line design methodologies have included the possibility of sharing tasks between stations. These approaches increase the throughput, improving the workload balance among the stations. Sharing operations can support the manag...
Human–robot collaboration has gained attention in the field of manufacturing and assembly tasks, necessitating the development of adaptable and user-friendly forms of interaction. To address this demand, collaborative robots (cobots) have emerg...
In this paper, we propose an active touch sensing algorithm designed for robust hole localization in 3D objects, specifically aimed at assembly tasks such as peg-in-hole operations. Unlike general object detection algorithms, our solution is tailored...
The evolving landscape of industrial manufacturing is increasingly embracing automation within smart factories. However, the critical role of human operators, particularly in manual assembly and disassembly tasks, remains undiminished. This paper exp...
Industry 4.0 provides a tremendous potential of data from the work floor. For manufacturing companies, these data can be very useful in order to support assembly operators. In literature, a lot of contributions can be found that present models to des...
Most robots are programmed to carry out specific tasks routinely with minor variations. However, more and more applications from SMEs require robots work alongside their counterpart human workers. To smooth the collaboration task flow and improve the...
Collaborative robots are vital in Industry 5.0 operations. They are utilized to perform tasks in collaboration with humans or other robots to increase overall production efficiency and execute complex tasks. Aiming at a comprehensive approach to asse...
This article investigates the realization of achieving safe and flexible assembly under manual teleoperation. A wearable positioning system for teleoperation assembly tasks was designed to provide great flexibility and operability. The 6D coordinate...
The accuracy and fluency of a handover task affects the work efficiency of human–robot collaboration. A precise and proactive estimation of handover time points by robots when handing over assembly parts to humans can minimize waiting times and...
Augmented reality (AR) support systems have proven to be effective in supporting various tasks, but are not yet widely used in real-world applications due to their high development costs. Although several AR authoring tools have been proposed for con...
Robot automatic assembly of weak stiffness parts is difficult due to potential deformation during assembly. The robot manipulation cannot adapt to the dynamic contact changes during the assembly process. A robot assembly skill learning system is desi...
8 March 2020
Objective: This study evaluated participants’ ability to assemble a computer keyboard while at a cycling workstation. Depending on task completion time, error percentage, and workload based on subjective workload ratings, subjective body discom...
This paper presents a universal approach to shaping the mechanical properties of the interaction between a collaborative robot and its environment through an end-effector Cartesian compliance shaping. More specifically, the focus is on the class of k...
Small lot sizes in modern manufacturing present new challenges for people doing manual assembly tasks. Assistive systems, including context-aware instruction systems and collaborative robots, can support people to manage the increased flexibility, wh...
Past studies have used eye-tracking glasses to analyze people’s perception of visual stimuli, usually regarding wayfinding, safety, or visual appeal. Some industries, such as the automotive industry, studied the effects of visual stimuli on tas...
(1) Background: Dementia and mild cognitive impairment (MCI) are still underdiagnosed in the general population. Impaired odor identification has been identified as an early marker of MCI and dementia. We aim to investigate whether short tasks, in wh...
The conventional component assembly techniques employed in manufacturing industries typically necessitate laborious manual parameter calibration prior to system deployment, while existing vision-based control algorithms suffer from limited adaptabili...
Components assembly and disassembly are fundamental tasks in manufacturing and the product service industry. Job instructions are required for novice and inexperienced workers to perform such tasks. Conventionally, job instructions may be presented v...
Due to the uncertainty and complexity of the assembly process, the trajectory planning of a robot needs to consider the real-time obstacle avoidance problem when it completes the assembly in the unstructured workspace. To realize the safe assembly of...
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