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Complex tasks require human collaboration since robots do not have enoughdexterity. However, robots are still used as instruments and not ascollaborative systems. We are introducing a framework to ensure safety in ahuman-robot collaborative environment. The system is composed of a hapticfeedback display, low-cost wearable mocap, and a new collision avoidancealgorithm based on the Artificial Potential Fields (APF). Wearable opticalmotion capturing system enables tracking the human hand position with highaccuracy and low latency on large working areas. This study evaluates whetherhaptic feedback improves safety in human-robot collaboration. Three experimentswere carried out to evaluate the performance of the proposed system. The firstone evaluated human responses to the haptic device during interaction with theRobot Tool Center Point (TCP). The second experiment analyzed human-robotbehavior during an imminent collision. The third experiment evaluated thesystem in a collaborative activity in a shared working environment. This studyhad shown that when haptic feedback in the control loop was included, the safedistance (minimum robot-obstacle distance) increased by 4.1 cm from 12.39 cm to16.55 cm, and the robot's path, when the collision avoidance algorithm wasactivated, was reduced by 81%.

CoHaptics: Development of Human-Robot Collaborative System with Forearm-worn Haptic Display to Increase Safety in Future Factories