Identificador persistente para citar o vincular este elemento:
http://hdl.handle.net/10553/120833
Campo DC | Valor | idioma |
---|---|---|
dc.contributor.author | Quintana Hernández, José Juan | en_US |
dc.contributor.author | Ferrer Ballester, Miguel Ángel | en_US |
dc.contributor.author | Díaz Cabrera, Moisés | en_US |
dc.contributor.author | Feo García, José Juan | en_US |
dc.contributor.author | Wolniakowski, Adam | en_US |
dc.contributor.author | Miatliuk, Konstantsin | en_US |
dc.date.accessioned | 2023-03-03T08:29:49Z | - |
dc.date.available | 2023-03-03T08:29:49Z | - |
dc.date.issued | 2022 | en_US |
dc.identifier.issn | 2076-3417 | en_US |
dc.identifier.uri | http://hdl.handle.net/10553/120833 | - |
dc.description.abstract | Collaborative robots or cobots interact with humans in a common work environment. In cobots, one under-investigated but important issue is related to their movement and how it is perceived by humans. This paper tries to analyze whether humans prefer a robot moving in a human or in a robotic fashion. To this end, the present work lays out what differentiates the movement performed by an industrial robotic arm from that performed by a human one. The main difference lies in the fact that the robotic movement has a trapezoidal speed profile, while for the human arm, the speed profile is bell-shaped and during complex movements, it can be considered as a sum of superimposed bell-shaped movements. Based on the lognormality principle, a procedure was developed for a robotic arm to perform human-like movements. Both speed profiles were implemented in two industrial robots, namely, an ABB IRB 120 and a Universal Robot UR3. Three tests were used to study the subjects’ preference when seeing both movements and another analyzed the same when interacting with the robot by touching its ends with their fingers. | en_US |
dc.language | eng | en_US |
dc.relation | Modelado cinemático 3D para la caracterización del movimiento humano, animal y robótico | en_US |
dc.relation.ispartof | Applied Sciences (Basel) | en_US |
dc.source | Applied Sciences (Basel) [ISSN 2076-3417], v. 12 (23), 12045 (Noviembre 2022) | en_US |
dc.subject | 33 Ciencias tecnológicas | en_US |
dc.subject.other | Lognormal speed profile | en_US |
dc.subject.other | Trapezoidal speed profile | en_US |
dc.subject.other | Robot kinematic | en_US |
dc.subject.other | Human-robot interaction | en_US |
dc.subject.other | Kinematic theory of rapid movement | en_US |
dc.title | Uniform vs. Lognormal Kinematics in Robots: Perceptual Preferences for Robotic Movements | en_US |
dc.type | info:eu-repo/semantics/article | en_US |
dc.type | Article | en_US |
dc.identifier.doi | 10.3390/app122312045 | en_US |
dc.identifier.scopus | 2-s2.0-85143651281 | - |
dc.identifier.isi | WOS:000895373500001 | - |
dc.contributor.orcid | 0000-0003-1166-6257 | - |
dc.contributor.orcid | 0000-0002-2924-1225 | - |
dc.contributor.orcid | 0000-0003-3878-3867 | - |
dc.contributor.orcid | 0000-0001-5286-9005 | - |
dc.contributor.orcid | 0000-0003-1698-1870 | - |
dc.contributor.orcid | 0000-0001-7488-7976 | - |
dc.identifier.issue | 23 | - |
dc.relation.volume | 12 | en_US |
dc.investigacion | Ingeniería y Arquitectura | en_US |
dc.type2 | Artículo | en_US |
dc.description.notas | This article belongs to the Special Issue New Challenges in Conceptual Design of Robotic and Mechatronic Systems | en_US |
dc.utils.revision | Sí | en_US |
dc.identifier.ulpgc | Sí | en_US |
dc.contributor.buulpgc | BU-TEL | en_US |
dc.description.sjr | 0,507 | - |
dc.description.jcr | 2,7 | - |
dc.description.sjrq | Q2 | - |
dc.description.jcrq | Q2 | - |
dc.description.scie | SCIE | - |
dc.description.miaricds | 10,5 | - |
item.fulltext | Con texto completo | - |
item.grantfulltext | open | - |
crisitem.project.principalinvestigator | Ferrer Ballester, Miguel Ángel | - |
crisitem.author.dept | GIR IDeTIC: División de Procesado Digital de Señales | - |
crisitem.author.dept | IU para el Desarrollo Tecnológico y la Innovación | - |
crisitem.author.dept | Departamento de Ingeniería Electrónica y Automática | - |
crisitem.author.dept | GIR IDeTIC: División de Procesado Digital de Señales | - |
crisitem.author.dept | IU para el Desarrollo Tecnológico y la Innovación | - |
crisitem.author.dept | Departamento de Señales y Comunicaciones | - |
crisitem.author.dept | GIR IDeTIC: División de Procesado Digital de Señales | - |
crisitem.author.dept | IU para el Desarrollo Tecnológico y la Innovación | - |
crisitem.author.dept | Departamento de Física | - |
crisitem.author.dept | GIR Energía, Corrosión, Residuos y Agua | - |
crisitem.author.dept | Departamento de Ingeniería Electrónica y Automática | - |
crisitem.author.orcid | 0000-0003-1166-6257 | - |
crisitem.author.orcid | 0000-0002-2924-1225 | - |
crisitem.author.orcid | 0000-0003-3878-3867 | - |
crisitem.author.orcid | 0000-0001-5286-9005 | - |
crisitem.author.parentorg | IU para el Desarrollo Tecnológico y la Innovación | - |
crisitem.author.parentorg | IU para el Desarrollo Tecnológico y la Innovación | - |
crisitem.author.parentorg | IU para el Desarrollo Tecnológico y la Innovación | - |
crisitem.author.parentorg | Departamento de Ingeniería Electrónica y Automática | - |
crisitem.author.fullName | Quintana Hernández, José Juan | - |
crisitem.author.fullName | Ferrer Ballester, Miguel Ángel | - |
crisitem.author.fullName | Díaz Cabrera, Moisés | - |
crisitem.author.fullName | Feo García, José Juan | - |
Colección: | Artículos |
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