Collaborative tasks between human operators\r\nand robotic manipulators can improve the performance\r\nand flexibility of industrial environments. Nevertheless,\r\nthe safety of humans should always be guaranteed and\r\nthe behaviour of the robots should be modified when a\r\nrisk of collision may happen. This paper presents the\r\nresearch that the authors have performed in recent years\r\nin order to develop a human-robot interaction system\r\nwhich guarantees human safety by precisely tracking the\r\ncomplete body of the human and by activating safety\r\nstrategies when the distance between them is too small.\r\nThis paper not only summarizes the techniques which\r\nhave been implemented in order to develop this system,\r\nbut it also shows its application in three real human-robot\r\ninteraction tasks.
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