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In this letter, we propose that the joint motion of a human worker doing repetitive work could be predicted using a time series model. With a motion capture system, the elbow joint rotation data are collected and used to fit an autoregressive model. An online parameter adaptation algorithm is employed to update model parameters in real time. A safety index with a distance factor is defined to describe...
We present a framework from vision based hand movement prediction in a real-world human-robot collaborative scenario for safety guarantee. We first propose a perception submodule that takes in visual data solely and predicts human collaborator's hand movement. Then a robot trajectory adaptive planning submodule is developed that takes the noisy movement prediction signal into consideration for optimization...
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