PDF(Pubmed)
Abstract：
BACKGROUND: Applications of robotics in daily life are becoming essential by creating new possibilities in different fields, especially in the collaborative environment. The potentials of collaborative robots are tremendous as they can work in the same workspace as humans. A framework employing a top-notch technology for collaborative robots will surely be worthwhile for further research.
OBJECTIVE: This study aims to present the development of a novel framework for the collaborative robot using mixed reality.
METHODS: The framework uses Unity and Unity Hub as a cross-platform gaming engine and project management tool to design the mixed reality interface and digital twin. It also uses the Windows Mixed Reality platform to show digital materials on holographic display and the Azure mixed reality services to capture and expose digital information. Eventually, it uses a holographic device (HoloLens 2) to execute the mixed reality-based collaborative system.
RESULTS: A thorough experiment was conducted to validate the novel framework for mixed reality-based control of a collaborative robot. This framework was successfully applied to implement a collaborative system using a 5-degree of freedom robot (xArm-5) in a mixed reality environment. The framework was stable and worked smoothly throughout the collaborative session. Due to the distributed nature of cloud applications, there is a negligible latency between giving a command and the execution of the physical collaborative robot.
CONCLUSIONS: Opportunities for collaborative robots in telerehabilitation and teleoperation are vital as in any other field. The proposed framework was successfully applied in a collaborative session, and it can also be applied in other similar potential applications for robust and more promising performance.
OBJECTIVE: This study aims to present the development of a novel framework for the collaborative robot using mixed reality.
METHODS: The framework uses Unity and Unity Hub as a cross-platform gaming engine and project management tool to design the mixed reality interface and digital twin. It also uses the Windows Mixed Reality platform to show digital materials on holographic display and the Azure mixed reality services to capture and expose digital information. Eventually, it uses a holographic device (HoloLens 2) to execute the mixed reality-based collaborative system.
RESULTS: A thorough experiment was conducted to validate the novel framework for mixed reality-based control of a collaborative robot. This framework was successfully applied to implement a collaborative system using a 5-degree of freedom robot (xArm-5) in a mixed reality environment. The framework was stable and worked smoothly throughout the collaborative session. Due to the distributed nature of cloud applications, there is a negligible latency between giving a command and the execution of the physical collaborative robot.
CONCLUSIONS: Opportunities for collaborative robots in telerehabilitation and teleoperation are vital as in any other field. The proposed framework was successfully applied in a collaborative session, and it can also be applied in other similar potential applications for robust and more promising performance.
摘要：
背景：通过在不同领域创造新的可能性，机器人技术在日常生活中的应用变得至关重要，特别是在协作环境中。协作机器人的潜力巨大，因为它们可以在与人类相同的工作空间中工作。采用一流技术的协作机器人框架肯定值得进一步研究。
目的：本研究旨在为使用混合现实的协作机器人提供一种新颖的框架。
方法：该框架使用Unity和UnityHub作为跨平台游戏引擎和项目管理工具来设计混合现实界面和数字孪生。它还使用Windows混合现实平台在全息显示器上显示数字材料，并使用Azure混合现实服务捕获和公开数字信息。最终,它使用全息设备（HoloLens2）来执行基于混合现实的协作系统。
结果：进行了彻底的实验，以验证基于混合现实的协作机器人控制的新颖框架。该框架已成功应用于在混合现实环境中使用5自由度机器人（xArm-5）实现协作系统。该框架是稳定的，在整个合作会议期间运作顺利。由于云应用的分布式特性，在给出命令和物理协作机器人的执行之间存在可忽略的延迟。
结论：协作机器人在远程康复和远程操作方面的机会与其他任何领域一样至关重要。拟议的框架已成功应用于协作会议，它也可以应用于其他类似的潜在应用中，以获得稳健和更有前途的性能。
目的：本研究旨在为使用混合现实的协作机器人提供一种新颖的框架。
方法：该框架使用Unity和UnityHub作为跨平台游戏引擎和项目管理工具来设计混合现实界面和数字孪生。它还使用Windows混合现实平台在全息显示器上显示数字材料，并使用Azure混合现实服务捕获和公开数字信息。最终,它使用全息设备（HoloLens2）来执行基于混合现实的协作系统。
结果：进行了彻底的实验，以验证基于混合现实的协作机器人控制的新颖框架。该框架已成功应用于在混合现实环境中使用5自由度机器人（xArm-5）实现协作系统。该框架是稳定的，在整个合作会议期间运作顺利。由于云应用的分布式特性，在给出命令和物理协作机器人的执行之间存在可忽略的延迟。
结论：协作机器人在远程康复和远程操作方面的机会与其他任何领域一样至关重要。拟议的框架已成功应用于协作会议，它也可以应用于其他类似的潜在应用中，以获得稳健和更有前途的性能。
