This paper presents a user-centered physical interface for collaborative mobile manipulators in industrial manufacturing and logistics applications. The proposed work builds on our earlier MOCA-MAN interface, through which a mobile manipulator could be physically coupled to the operators to assist them in performing daily activities. The new interface instead presents the following additions: i) A simplistic, industrial-like design that allows the worker to couple/decouple easily and to operate mobile manipulators locally; ii) Enhanced loco-manipulation capabilities that do not compromise the worker mobility. Besides, an experimental evaluation with six human subjects is carried out to analyze the enhanced locomotion and flexibility of the proposed interface in terms of mobility constraint, usability, and physical load reduction.
翻译:本文介绍了工业制造和后勤应用中协作移动操纵器的以用户为中心的物理界面;拟议工作以我们早先的MOCA-MAN界面为基础,通过这一界面,移动操纵器可以与操作者进行实际连接,以协助操作者开展日常活动;新的界面提供了以下补充内容:(一) 简单化的工业型设计,使工人能够轻松地对接/断并在当地操作移动操纵器;(二) 增强的遥控控制能力,不会损害工人的机动性;此外,还针对6个人类主体进行了实验性评估,以分析拟议界面在移动性限制、可用性和减少体力方面增强的机动性和灵活性。