Seite - 45 - in Proceedings of the OAGM&ARW Joint Workshop - Vision, Automation and Robotics

 Abstract—In this paper we present results of the AssistMe project which aims at enabling close human-robot cooperation in production processes. AssistMe develops and evaluates different means of interaction for programming and using a robot-based assistive system through a multistage user-centered design process. Together with two industrial companies human- robot cooperation scenarios are evaluated in two entirely different application areas. One field of application is the assembly of automotive combustion engines while the other one treats the machining (polishing) of casting moulds. In this paper we describe the overall project methodology, followed by a description of the selected use case and a detailed outline of the first two expansion stages. The paper closes with an overview on the results of the first two rounds of user trials and gives an outlook on the next expansion stage of the human-robot cooperation scenario. I. INTRODUCTION Traditional robot systems are programmed mostly offline with text based programming languages or by complex CAD/CAM based simulation tools. That is suitable for traditional robot systems used in specialized situations such as optimized and fenced working environments, only applicable for high production volumes. Robots for smaller production volumes (applicable for SMEs) would require two main success factors. That’s on the one hand safe applicability without expensive safety hardware like dedicated workspace or fences. On the other hand systems would benefit from applicability for smaller production volumes and lot sizes which requires frequent reprogramming – ideally without expensive software tools or robot and computer vision specialists. Robot manufacturers address both safety and ease of use and reprogramming with contemporary products. Limitation of system power and implementation of safety relevant control system structures as well as safety relevant functionality like safely limited speed or workspace are used to make systems safe enough for even collaboration, as it is defined in the DIN ISO 10218 standard. Improved user interfaces should make systems useable without special training. Main modalities implemented by the system used (a Universal Robot UR10 system) are touch based programming with graphical elements as well as manual interaction by hand-guidance during parameterization of the programs. Markus Ikeda, Gerhard Ebenhofer, Jürgen Minichberger, Gerald Fritz and Andreas Pichler are with Profactor GmbH, Austria (e-mail corresponding author: markus.ikeda@profactor.at) Andreas Huber is with the Institute of Automation and Control, Human workers and the robots could work as a team through more flexible human-robot interaction [1]. But how to develop a robot system that meets the needs of its users in an industry 4.0 environment? An answer has to take User Experience (UX) into account, which – according to Alben [2] – comes everywhere into play were humans interact with a system. This includes cooperation and usability but also factors such as perceived safety, stress, or emotions [3]. The work presented in this paper illustrates how a UX study helped improving a standard-software to a physical interaction interface for real-world usage. A multistage user- centric design approach was performed, involving representative factory works performing user studies in their actual working environment. Finally we want to introduce a proposal of the improved interface to be evaluated at the very end of the AssistMe project. II. RELATED WORK The Industry 4.0 paradigm of close human-robot cooperation makes fundamental research necessary, not only in robotics, but also in user-centered HRI. Little research has been performed so far concerning industrial robotics, associated UX, and how HRI impacts production performance. Existing research already showed potential application scenarios of physical HRI [4] and that the UX of robots changes over time [5]. A methodological approach how to evaluate the usability of teach pendants for teaching a robotic arm was demonstrated by [6]. Current research for example is the learning of motor skills by pHRI [7] and the industry-oriented application [8]. The focus of our research follows a similar interest as [6] especially on how to use UX to improve a newly introduced robotic arm without a safety fence in a factory environment. III. ASSISTME SYSTEMS In the AssistMe project two usecases in three expansion stages are evaluated. One of the usecases is the assembly of a combustion engine. That includes the installation of a cylinder head cover. The installation is carried out manually by stacking the cover with pre-inserted screws onto the motor block and tightening the screws with a manual power tool. Vienna University of Technology, Austria (e-mail: huber.cognition@yahoo.com). Astrid Weiss is with the Institute of Automation and Control, Vienna University of Technology, Austria (e-mail: Astrid.Weiss@tuwien.ac.at). User-Centered Assistive Robotics for Production - Human-Robot Interaction Concepts in the AssistMe project Markus Ikeda, Gerhard Ebenhofer, Jürgen Minichberger, Gerald Fritz, Andreas Pichler Andreas Huber, Astrid Weiss 45