A projection-based making-human-feel-safe system for human-robot cooperation

When a person is working on a human robot cooperation system, he/she tends to worry about possible collisions with the robot, because of a lack of internal information about the robot. This internal information is, for example, an awareness of a worker's presence or future robot motion. Therefore, this paper proposes a projection-based making-human-feel-safe system that not only ensures the safety of a human worker but also ensures that the worker feels safe when working with a robot by displaying the internal information of the robot using projection technology. To develop this system, we utilized a Kalman filter for predicting a worker's hand position and compensating the delay in the projection. An elastic band framework was implemented to plan a safe path considering the position of the worker. Finally, an evaluation experiment was conducted to prove the effectiveness of the system.