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Safety is a fundamental requirement in any human-robot collaborationscenario. To ensure the safety of users for such scenarios, we propose a novelVirtual Barrier system facilitated by an augmented reality interface. Oursystem provides two kinds of Virtual Barriers to ensure safety: 1) a VirtualPerson Barrier which encapsulates and follows the user to protect them fromcolliding with the robot, and 2) Virtual Obstacle Barriers which users canspawn to protect objects or regions that the robot should not enter. To enableeffective human-robot collaboration, our system includes an intuitive robotprogramming interface utilizing speech commands and hand gestures, and featuresthe capability of automatic path re-planning when potential collisions aredetected as a result of a barrier intersecting the robot's planned path. Wecompared our novel system with a standard 2D display interface through a userstudy, where participants performed a task mimicking an industrialmanufacturing procedure. Results show that our system increases the user'ssense of safety and task efficiency, and makes the interaction more intuitive.

Virtual Barriers in Augmented Reality for Safe and Effective Human-Robot Cooperation in Manufacturing