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Source publication
Close human-robot interaction (HRI), especially in industrial scenarios, has been vastly investigated for the advantages of combining human and robot skills. For an effective HRI, the validity of currently available human-machine communication media or tools should be questioned, and new communication modalities should be explored. This article pro...
Contexts in source publication
Context 1
... our scenario, we recognize two states categories, namely menu and action. Menu states describe the GUI ( Figure 5 shows the GUI representation of some menu states), and when they are active, the interaction is limited to the menu navigation. Instead, action states implement the system functionalities, e.g., human teaching of a motion or robot execution of a task. ...
Context 2
... Graphical User Interface arranges the menu's options vertically, and a red selector is used to highlight the selected option (see Figure 5a). The FSM menu states describing the GUI are published on a ROS topic and converted, by a renderer, to a graphical representation. ...
Context 3
... architecture allows the user to control robot functionalities to record and playback end-effector trajectories. In particular, the main menu offers four options: record, playback, sequential playback, and macro mode (see Figure 5a). Whenever one of these options is selected, the corresponding menu is opened. ...
Context 4
... record menu (Figure 5b) displays a list of recorded robot tasks (i.e., endeffector trajectories). The user can overwrite each task by selecting it or creating a new one using the corresponding option. ...
Context 5
... playback menu (Figure 5c) lists all the saved tasks, which can be deleted by the human operator using the corresponding option. When a task is selected, the FSM transits to the playback action state, and the robot reproduces the associated trajectory. ...
Context 6
... sequential playback menu (Figure 5d) allows the user to combine saved tasks in sequences to handle more complex behaviours. The user can remove or substitute a task from the sequence by selecting it. ...
Context 7
... the macro mode menu, see Figure 5e, allows the user to associate one task to each of the three gestures G1, G2 and G3 (the correspondence taskgesture is ordered from top to bottom). The user can customize the mapping by selecting a specific slot and choosing a task from the list of available ones. ...
Context 8
... the recording is finished, the wooden block is back to position A. 3. The third task consists in selecting the macro option from the main menu and associating G1 and G2 (see Figure 4), or two buttons while using the touchscreen, respectively to the pre-recorded Move: A → B and the new Move: B → A. After selecting play, see Figure 5e, the participant has to activate the two actions, using the corresponding inputs, to move the wooden block from A to B and vice versa. 4. The last task consists in selecting the sequence option from the main menu to create a sequence of actions and then selecting play to start the reproduction. ...
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