The collaborative robot market is flourishing as there is a trend towards simplification, modularity, and increased flexibility on the production line. But when humans and robots are collaborating in a shared environment, the safety of humans should be a priority. We introduce a novel wearable robotic system to enhance safety during Human Robot Interaction (HRI). The proposed wearable robot is designed to hold a fiducial marker and maintain its visibility to the tracking system, which, in turn, localizes the user's hand with good accuracy and low latency and provides haptic feedback on the user's wrist. The haptic feedback guides the user's hand movement during collaborative tasks in order to increase safety and enhance collaboration efficiency. A user study was conducted to assess the recognition and discriminability of ten designed haptic patterns applied to the volar and dorsal parts of the user's wrist. As a result, four patterns with a high recognition rate were chosen to be incorporated into our system. A second experiment was carried out to evaluate the system integration into real-world collaborative tasks.

翻译：协作机器人市场随着生产线向简化、模块化和更高灵活性趋势发展而蓬勃兴起。但在人类与机器人共享环境协作时，人类安全应被置于优先地位。我们提出一种新型可穿戴机器人系统，用于增强人机交互过程中的安全性。该可穿戴机器人被设计为能够固定基准标记并保持其对追踪系统的可见性，从而以高精度和低延迟定位用户手部，并在用户手腕上提供触觉反馈。在协作任务中，触觉反馈引导用户手部运动以提升安全性及协作效率。我们开展了一项用户研究，评估了应用于用户手腕掌侧和背侧的十种触觉模式的识别度与可区分性。基于研究结果，选取了四种高识别率模式融入系统。进一步通过第二项实验评估了该系统在实际协作任务中的集成效果。