aiqbench analysis
This research addresses the automation bottleneck in handling deformable carbon fiber plies by proposing a multimodal human-robot collaboration framework. The study evaluates various control strategies, concluding that a combination of speech commands, vision-based wrist tracking, and compliant force control offers the most intuitive solution for balancing ergonomic safety with productivity. For robotics practitioners, this work highlights the necessity of hybrid control architectures to overcome the physical limitations of fully automated flexible material manipulation.
Human-Guided Co-Manipulation of Carbon Fiber Plies
arXiv:2606.11818v1 Announce Type: new Abstract: The handling of flexible materials is a difficult task to fully automate due to the challenges caused by the deformability of these types of objects. Meanwhile, a fully manual process can be ergonomically challenging, tedious and inefficient. Thus, human-robot collaboration (HRC) and cooperative manipulation (co-manipulation) have received increasing interest in this field as they enable human involvement when needed while also improving productivity. To enable efficient co-manipulation and interaction between the human operator and the robot, different modalities and control methods are required. In this paper, we present and examine different control methods for co-manipulation of carbon fiber plies, evaluating the pros and cons of each method in a controlled setting. We propose that a multimodal combination of speech commands, wrist-tracking through vision, and force with compliant control would provide the best solution for complete and intuitive control of the task.
Abstract:The handling of flexible materials is a difficult task to fully automate due to the challenges caused by the deformability of these types of objects. Meanwhile, a fully manual process can be ergonomically challenging, tedious and inefficient. Thus, human-robot collaboration (HRC) and cooperative manipulation (co-manipulation) have received increasing interest in this field as they enable human involvement when needed while also improving productivity. To enable efficient co-manipulation and interaction between the human operator and the robot, different modalities and control methods are required. In this paper, we present and examine different control methods for co-manipulation of carbon fiber plies, evaluating the pros and cons of each method in a controlled setting. We propose that a multimodal combination of speech commands, wrist-tracking through vision, and force with compliant control would provide the best solution for complete and intuitive control of the task.
Robotics (cs.RO)
arXiv:2606.11818 [cs.RO]
(or arXiv:2606.11818v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2606.11818 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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Full text under the publisher's open licence · 234 words