HRC-SoS: Human Robot Collaboration Experimentation Platform as System of Systems
This addresses the need for integrated experimentation platforms in robotics research, though it appears incremental by building on existing subsystem technologies.
The paper tackles the problem of developing a platform for human-robot collaboration by proposing a conceptual framework based on Awareness, Intelligence, and Compliance, and demonstrates it through case studies using subsystems like digital twins and physiological monitoring, but does not report specific numerical results.
This paper presents an experimentation platform for human robot collaboration as a system of systems as well as proposes a conceptual framework describing the aspects of Human Robot Collaboration. These aspects are Awareness, Intelligence and Compliance of the system. Based on this framework case studies describing experiment setups performed using this platform are discussed. Each experiment highlights the use of the subsystems such as the digital twin, motion capture system, human-physiological monitoring system, data collection system and robot control and interface systems. A highlight of this paper showcases a subsystem with the ability to monitor human physiological feedback during a human robot collaboration task.