Embedded Augmented Reality Training System for Dynamic Human-Robot Cooperation

In industrial production of high-wage countries, advanced automation technologies can partially compensate the lack of skilled workers, but human effectiveness and flexibility is still essential in many scenarios. Implementing the idea of mutual completion, direct human-robot cooperation appears suitable where strong forces are needed but human flexibility is indispensable. For this, the explicit spatial separation between robot and worker has to be given up. Prior to installation of sophisticated monitoring systems on the shop floor, advanced simulation methodologies have to be embedded directly into the production cell to design such cooperation scenarios safe and effective likewise. An immersive simulation system is presented which allows an optical see-through augmented reality AR configuration where the user is able to perceive the real tool in his hand. Alternatively, the system also supports a pure virtual reality VR mode where all objects visualization is artificial. Both variants accord in direct confrontation with a virtual robot and real-time physics simulation capabilities. A usability study with 40 subjects has been conducted, featuring robotically supported cast part blasting as experimental task. Results of user performance focussing on executing times and shooting accuracy indicate a tie between AR and VR and a surpassing overall usability in both configurations, but the users personal preference trends towards AR.