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dc.contributor.authorZacharias, F
dc.contributor.authorHoward, IS
dc.contributor.authorHulin, T
dc.contributor.authorHirzinger, G

In virtual assembly verification or remote maintenance tasks, bimanual haptic interfaces play a crucial role in successful task completion. This paper proposes a method for objectively comparing how well a haptic interface covers the reachable workspace of human arms. Two system configurations are analyzed for a recently introduced haptic device that is based on two DLR-KUKA light weight robots: the standard configuration, where the device is opposite the human operator, and the ergonomic configuration, where the haptic device is mounted behind the human operator. The human operator directly controls the robotic arms using handles. The analysis is performed using a representation of the robot arm workspace. The merits of restricting the comparisons to the most significant regions of the human workspace are discussed. Using this method, a greater workspace correspondence for the ergonomic configuration was shown. ©2010 IEEE.

dc.subject40 Engineering
dc.subject46 Information and Computing Sciences
dc.subject4007 Control Engineering, Mechatronics and Robotics
dc.subject4602 Artificial Intelligence
dc.subject4608 Human-Centred Computing
dc.titleWorkspace comparisons of setup configurations for human-robot interaction
dc.typeProceedings Paper
plymouth.conference-name2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)
plymouth.journal2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA/UoA11 Computer Science and Informatics
plymouth.organisational-group/Plymouth/Users by role
plymouth.organisational-group/Plymouth/Users by role/Academics
dc.rights.embargoperiodNot known
rioxxterms.typeConference Paper/Proceeding/Abstract

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