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In human–robot collaboration (HRC), human motion capture can be considered an enabler for switching autonomy between humans and robots to create efficient and safe operations. For this purpose, wearable motion tracking systems such as IMU and lighthouse-based systems have been used to transfer human joint motions into robot controller models. Due to reasons such as global positioning, drift, and occlusion, in some situations, e.g., HRC, both systems have been combined. However, it is still not clear if the motion quality (e.g., smoothness, naturalness, and spatial accuracy) is sufficient when the human operator is in the loop. This article presents a novel approach for measuring human motion quality and accuracy in HRC. The human motion capture has been implemented in a laboratory environment with a repetition of forty-cycle operations. Human motion, specifically of the wrist, is guided by the robot tool center point (TCP), which is predefined for generating circular and square motions. Compared to the robot TCP motion considered baseline, the hand wrist motion deviates up to 3 cm. The approach is valuable for understanding the quality of human motion behaviors and can be scaled up for various applications involving human and robot shared workplaces. [ABSTRACT FROM AUTHOR]

Human–robot interaction has extended its application horizon to simplify how human beings interact with each other through a remotely controlled telepresence robot. The fast growth of communication technologies such as 4G and 5G has elevated the potential to establish stable audio–video-data transmission. However, human–robot physical interactions are still challenging regarding maneuverability, controllability, stability, drive layout, and autonomy. Hence, this paper presents a systematic design and control approach based on the customer's needs and expectations of telepresence mobile robots for social interactions. A system model and controller design are developed using the Lagrangian method and linear quadratic regulator, respectively, for different scenarios such as flat surface, inclined surface, and yaw (steering). The robot system is capable of traveling uphill (30 ∘ ) and has a variable height (600–1200 mm). The robot is advantageous in developing countries to fill the skill gaps as well as for sharing knowledge and expertise using a virtual and mobile physical presence. [ABSTRACT FROM AUTHOR]

Due to the change from mass production to mass personalized production and the resulting intrinsic product flexibility, the automotive industry, among others, is looking for cost-efficient and resource-saving production methods to combining global just-in-time production. In addition to geometric manufacturing flexibility, additive manufacturing offers a resource-saving application for rapid prototyping and small series in predevelopment. In this study, the FDM process is utilized to manufacture the tooling to draw a small series of sheet metal parts in combination with the rubber pad forming process. Therefore, a variety of common AM polymer materials (PETG, PLA, and ABS) is compared in compression tests, from which PLA is selected to be applied as sheet metal forming die. For the rubber pad forming process, relevant processing parameters, i.e., press force and rubber cushion hardness, are studied with respect to forming depth. The product batch is examined by optical evaluation using a metrological system. The scans of the tool and sheet metal parts confirm the mechanical integrity of the additively manufactured die from polymer and thus the suitability of this approach for small series in sheet metal drawing processes, e.g., for automotive applications. [ABSTRACT FROM AUTHOR]