Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7148

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Subject: search.filters.subject.Human-robot interaction

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  • Conference Object
    Citation - WoS: 3
    Citation - Scopus: 3
    Assessment of Human-Robot Interaction Between Householders and Robotic Vacuum Cleaners
    (IEEE, 2022) Yapıcı, Nur Beril; Tuğlular, Tuğkan; Başoğlu, Ahmet Nuri
    The study presented in this paper investigates the application of the Hybrid Model, which is the combination of the two strategies of the Built-to-Order Model and the Dynamic Eco-strategy Explorer Model, to robotic vacuum cleaners. The Hybrid Model aims to switch the market power from seller-driven perception to buyer-driven one by creating an individual perspective from the eye of users rather than traditional customer segmentation. The human-centered approach established theoretically has been tested with a determined procedure that includes prototyping, testing, and evaluating the proposed customization system for robotic vacuum cleaners to increase the interaction degree with purchasers. In this case, robotic vacuum cleaners have been chosen to implement and assess the hypothesis. Firstly, the successful prototyping of the Hybrid Model requires well customer analysis and habits determination to build well-constructed and coherent interaction between the purchaser and the robot. We utilized a content analysis of robotic vacuum cleaners and elaborative, conventional interviews with early adopters and early majority of this technology in Turkey to establish credible scenarios and product options during the phases of the Hybrid Model practice. The results of the interview were discussed, and the evaluations have been reported.
  • Article
    Citation - WoS: 4
    Citation - Scopus: 5
    Toward Safe and High-Performance Human-Robot Collaboration Via Implementation of Redundancy and Understanding the Effects of Admittance Term Parameters
    (Cambridge University Press, 2022) Kanık, Mert; Ayit, Orhan; Dede, Mehmet İsmet Can; Tatlıcıoğlu, Enver
    Summary Today, demandsin industrial manufacturing mandate humans to work with large-scale industrial robots, and this collaboration may result in dangerous conditions for humans. To deal with this situation, this work proposes a novel approach for redundant large-scale industrial robots. In the proposed approach, an admittance controller is designed to regulate the interaction between the end effector of the robot and the human. Additionally, an obstacle avoidance algorithm is implemented in the null space of the robot to prevent any possible unexpected collision between the human and the links of the robot. After safety performance of this approach is verified via simulations and experimental studies, the effect of the parameters of the admittance controller on the performance of collaboration in terms of both accuracy and total human effort is investigated. This investigation is carried out via 8 experiments by the participation of 10 test subjects in which the effect of different admittance controller parameters such as mass and damper are compared. As a result of this investigation, tuning insights for such parameters are revealed.
  • Conference Object
    A Continuously Variable Transmission System Designed for Human-Robot Interfaces
    (IFToMM, 2018) Mobedi, Emir; Dede, Mehmet İsmet Can
    Continuously Variable Transmission (CVT) systems are being used for many applications such as automotive transmissions, robotics, aerospace. In an ideal condition, these systems have the potential to provide continuously varying power transmission within a predefined limit. This transmission is accomplished with the help of friction, belt or gear systems. CVT can find application in a human-robot interface if design criteria such as backdrivability, independent output position and impedance variation, shock absorbing and low mass and inertia can be satisfied. Even if there are various CVT designs in the literature for human-robot interfaces, the primary limitation of the two-cone drive CVT designs is that the output torque and the output position cannot be altered independently. The reason for this problem is that the friction wheel, which is designed to transmit the torque from the input cone to the output cone, gives rise to remarkable longitudinal friction force along the linear way. In order to overcome this problem, a sphere is used in this work for the CVT design as the transmission element. In addition, it is stated in the literature that common CVT drive systems do not have the capability to be used in cyclic bidirectional motion. In the presented CVT design, a second sphere is added to the system with two springs from the lower part of the cones for pre-tension in order to solve the bidirectional transmission problem. In this paper, the working principle and conceptual design details of the novel two-cone CVT drive are presented. Experimental results showed that the novel CVT has the capacity to transmit bidirectional power with some accuracy.