The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is composed of a wearable 2-DOF robot, a low-cost and easy-to-install tracking system, and a collision avoidance algorithm based on the Artificial Potential Field (APF). The 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 to the user. The system is designed to enhance the performance of collaborative tasks while ensuring user safety. Three experiments were carried out to evaluate the performance of the proposed system. The first one evaluated the accuracy of the tracking system. The second experiment analyzed human-robot behavior during an imminent collision. The third experiment evaluated the system in a collaborative activity in a shared working environment. The results show that the implementation of the introduced system reduces the operation time by 16% and increases the average distance between the user's hand and the robot by 5 cm.

翻译：当前机器人系统的能力使其在完成复杂任务时需要人类协作。本文提出了一种确保人机协作环境安全性的框架。该系统由一款可穿戴二自由度机器人、一套低成本且易于安装的追踪系统，以及基于人工势场法的碰撞规避算法组成。可穿戴机器人被设计用于固定一个基准标记，并维持其对追踪系统的可见性，进而以良好的精度和低延迟定位用户手部，并向用户提供触觉反馈。该系统的设计旨在提升协作任务性能的同时确保用户安全。为评估所提系统的性能，开展了三项实验：第一项实验评估了追踪系统的精度；第二项实验分析了即将发生碰撞时的人机行为；第三项实验在共享工作环境中评估了系统在协作活动中的表现。结果表明，所引入系统的实施使操作时间减少了16%，并将用户手部与机器人之间的平均距离增加了5厘米。