Digital twins for hand gesture-guided human-robot collaboration systems
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART B-JOURNAL OF ENGINEERING MANUFACTURE(2024)
摘要
Gesture control is one of the effective and flexible communication method between humans and robots. However, it always depends on complex hardware and configurations in human-robot collaboration systems. Simplifying the design of gesture-interaction systems and avoiding miscommunication are challenging problems. In this paper, we proposed a method that utilizes an RGB sensor to realize spatial human-robot collaboration. A random forest based depth estimator is presented to supplement the additional spatial information for hand gesture recognition. Additionally, we demonstrate the construction of secure human-robot collaboration scenarios in Unity and validate our approach in real-world settings, based on which a digital twin system oriented to human-machine collaboration is constructed to realize rapid human-machine task simulation, safety specification testing, and real-scene applications development.
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关键词
Human-robot collaboration,random forest depth estimation,digital twin system
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