A robotic co-operation system based on a self-organization approached human work model-assembly work support by vision information and physical interaction

This study presents a method of human cooperating systems, which can determine when support behavior is necessary by a human work model. We focus on assembly work as the target and propose a self-organizing approach of human work models by sampled human information by vision sensors. The support is determined according to the work model. Such a system would realize provision of support without a strict model of the assembly target and enable support in cases where neither the assembly process, nor the final form of the completed task is known to the system in advance. First, a method of measuring human information and extracting states where support is necessary, from the human work model is presented. Next a support system for assembly work cooperation according to the work model, with physical interaction capabilities is described. Experiments were carried out to evaluate and verify the effectiveness of the system. The results show that the constructed assembly support system is effective in both improving performance and increasing friendliness