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Module 12: Human-Robot Interaction

Introduction​

As robots enter human spaces, effective interaction becomes critical. This module covers safety, collaboration, and communication between humans and robots.

Section 1: Safety Systems​

1.1 Safety Standards​

Collaborative Robot (Cobot): A robot designed for direct interaction with humans in a shared workspace without physical separation.

Key standards:

  • ISO 10218-1/2: Industrial robot safety
  • ISO/TS 15066: Collaborative robot guidelines
  • ISO 13482: Service robot safety

1.2 Safety Strategies​

class SafetyController:
    def __init__(self, robot):
        self.robot = robot
        self.speed_limits = {"normal": 1.5, "near_human": 0.5}

    def update(self):
        human_distance = self.robot.detect_humans()

```python
```python
        if human_distance < 0.5:
            self.robot.stop()
        elif human_distance < 1.5:
            self.robot.set_speed_limit(self.speed_limits["near_human"])
        else:
            self.robot.set_speed_limit(self.speed_limits["normal"])

Section 2: Shared Autonomy​

2.1 Blending Human and Robot Control​

u=αuhuman+(1−α)urobot\mathbf{u} = \alpha \mathbf{u}_{human} + (1-\alpha)\mathbf{u}_{robot}

2.2 Intent Prediction​

Anticipating human goals to provide assistance.

Autonomy level should match user preference and task requirements. Too much assistance can be frustrating; too little unhelpful.

Section 3: Communication Interfaces​

3.1 Natural Language​

Speech recognition and natural language understanding for commands.

3.2 Gesture Recognition​

Non-verbal communication through body pose and hand gestures.

3.3 Haptic Feedback​

Force and tactile feedback for physical guidance.

Section 4: Trust and Acceptance​

4.1 Factors Affecting Trust​

  • Reliability and predictability
  • Transparency of behavior
  • Prior experience
  • Task stakes

4.2 Design for Acceptance​

Human-centered design process for robot development.

Summary​

Key takeaways:

  1. Safety is the foundation of human-robot interaction
  2. Shared autonomy blends human and robot capabilities
  3. Multi-modal communication enables natural interaction
  4. Trust must be earned through reliable performance

Key Concepts​

  • Collaborative Robot: Robot designed for human proximity
  • Shared Autonomy: Blending human and robot control
  • Intent Prediction: Anticipating human goals
  • Trust: Human confidence in robot reliability

Further Reading​

  1. Goodrich, M.A. & Schultz, A.C. (2007). "Human-Robot Interaction: A Survey"
  2. Lasota, P.A. et al. (2017). "A Survey of Methods for Safe Human-Robot Interaction"