Emotion-Aware Control Framework for Human-Robot Collaboration

The advent of industrial scenarios involving close interaction between humans and robots, without physical barriers, requires careful examination of the impact on safety and human work experience. In this paper a control framework for Human-Robot Collaboration (HRC) that explicitly integrates human emotions and ISO/TS 15066 safety requirements is proposed. The framework employs a motion planning strategy to generate collision-free trajectories considering only the robot joints limits. Subsequently, the speed of the robot is modulated online in order to ensure a safe and efficient collaboration. In other words, the behaviour of the robot adapts to the human operator emotions. The overall framework has been validated on a UR5e.