Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/89699
Título: | Ergowear: an ambulatory, non-intrusive, and interoperable system towards a human-aware human-robot collaborative framework |
Autor(es): | Resende, Andre Cerqueira, Sara Maria Brito Araújo Barbosa, Joao Damasio, Eurico Pombeiro, Ana Ferreira da Silva, Alexandre Santos, Cristina |
Palavras-chave: | Human-Robot Collaboration Industry 5.0 Inertial sensors Motion Capture Human Robot Collaboration |
Data: | 28-Abr-2021 |
Editora: | IEEE |
Revista: | IEEE International Conference on Autonomous Robot Systems and Competitions |
Citação: | A. Resende et al., "Ergowear: an ambulatory, non-intrusive, and interoperable system towards a Human-aware Human-robot Collaborative framework," 2021 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Santa Maria da Feira, Portugal, 2021, pp. 56-61, doi: 10.1109/ICARSC52212.2021.9429796. |
Resumo(s): | Motivated by industry 5.0 paradigm and Human-robot collaboration (HRC) technology, this paper presents the first steps of the design and development of Ergowear, a wearable, non-intrusive, interoperable upper body inertial Motion Capture system. This system was developed aiming to be used as a sensing technology to make the robot aware of the human's intentions and states and, therefore, achieving human-Awareness. Consequently, it was developed to run on ROS2, to ease its integration in a HRC framework. This work depicts the design process and development of the prototype. Firstly, the system requirements are presented along with the system components and architecture. To verify interoperability, a protocol was designed to test the Ergowear's hardware, namely its autonomy, storing capacity, wireless communication's performance, and overall mechanical robustness. Overall, the achieved results are within the specified technical requirements, presenting the Ergowear as a promising sensing technology to be integrated within a Human-Aware HRC framework. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/89699 |
ISBN: | 9781665431989 |
DOI: | 10.1109/ICARSC52212.2021.9429796 |
ISSN: | 2573-9360 |
Versão da editora: | https://ieeexplore.ieee.org/document/9429796 |
Arbitragem científica: | yes |
Acesso: | Acesso restrito UMinho |
Aparece nas coleções: | CMEMS - Artigos em livros de atas/Papers in proceedings DEI - Artigos em atas de congressos internacionais |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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Ergowear_an_ambulatory_non-intrusive_and_interoperable_system_towards_a_Human-aware_Human-robot_Collaborative_framework.pdf Acesso restrito! | 316,93 kB | Adobe PDF | Ver/Abrir |