Real-time recognition of human gestures for collaborative robots on assembly-line

Abstract : We present a framework and preliminary experimental results for real-time recognition of human operator actions. The goal is, for a collaborative industrial robot operating on same assembly-line as workers, to allow adaptation of its behavior and speed for smooth human-robot cooperation. To this end, it is necessary for the robot to monitor and understand behavior of humans around it. The real-time motion capture is performed using a "MoCap suit" of 12 inertial sensors estimating joint angles of upper-half of human body (neck, wrists, elbows, shoulders, etc...). In our experiment, we consider one particular assembly operation on car doors, which we have further subdivided into 4 successive steps: removing the adhesive protection from the waterproofing sheet, positioning the waterproofing sheet on the door, pre-sticking the sheet on the door, and finally installing the window "sealing strip". The gesture recognition is achieved continuously in real-time, using a technique combining an automatic time-rescaling similar to Dynamic Time Warp (DTW), and Hidden Markov Model (HMM) for estimating respective probabilities of the 4 learnt actions. Preliminary evaluation, conducted in real-world on an experimental assembly cell of car manufacturer PSA, shows a very promising action correct recognition rate of 96% on several repetitions of the same assembly operation by a single operator. Ongoing work aims at evaluating our framework for same actions recognition but on more executions by a larger pool of different human operators, and also to estimate false recognition rates on unrelated gestures. Another interesting potential perspective is the use of workers' motion capture in order to estimate effort and stress, for helping prevention of physical causes of some musculoskeletal disorders.
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Contributeur : Fabien Moutarde <>
Soumis le : jeudi 31 juillet 2014 - 12:44:21
Dernière modification le : lundi 12 novembre 2018 - 10:53:22
Document(s) archivé(s) le : lundi 17 novembre 2014 - 16:24:42


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  • HAL Id : hal-00975530, version 1


Eva Coupeté, Sotiris Manitsaris, Fabien Moutarde. Real-time recognition of human gestures for collaborative robots on assembly-line. 3rd International Digital Human Modeling Symposium (DHM2014), May 2014, Tokyo, Japan. 7 p. ⟨hal-00975530⟩



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