The article explores the possibilities of using hand gestures as a control interface for robotic systems in a collaborative workspace. The development of hand gesture control interfaces has become increasingly important in everyday life as well as professional contexts such as manufacturing processes. We present a system designed to facilitate collaboration between humans and robots in manufacturing processes that require frequent revisions of the robot path and that allows direct definition of the waypoints, which differentiates our system from the existing ones. We introduce a novel and intuitive approach to human-robot cooperation through the use of simple gestures. As part of a robotic workspace, a proposed interface was developed and implemented utilising three RGB-D sensors for monitoring the operator's hand movements within the workspace. The system employs distributed data processing through multiple Jetson Nano units, with each unit processing data from a single camera. MediaPipe solution is utilised to localise the hand landmarks in the RGB image, enabling gesture recognition. We compare the conventional methods of defining robot trajectories with their developed gesture-based system through an experiment with 20 volunteers. The experiment involved verification of the system under realistic conditions in a real workspace closely resembling the intended industrial application. Data collected during the experiment included both objective and subjective parameters. The results indicate that the gesture-based interface enables users to define a given path objectively faster than conventional methods. We critically analyse the features and limitations of the developed system and suggest directions for future research. Overall, the experimental results indicate the usefulness of the developed system as it can speed up the definition of the robot's path.

• Klíčová slova
• gesture, hand recognition, hand tracking, human-robot collaboration, human-robot interaction,
• MeSH
• dobrovolní pracovníci MeSH
• gesta MeSH
• lidé MeSH
• pohyb MeSH
• robotika * metody   MeSH
• ruka MeSH
• Check Tag
• lidé MeSH
• Publikační typ
• časopisecké články MeSH

In this work, we extend the previously proposed approach of improving mutual perception during human-robot collaboration by communicating the robot's motion intentions and status to a human worker using hand-worn haptic feedback devices. The improvement is presented by introducing spatial tactile feedback, which provides the human worker with more intuitive information about the currently planned robot's trajectory, given its spatial configuration. The enhanced feedback devices communicate directional information through activation of six tactors spatially organised to represent an orthogonal coordinate frame: the vibration activates on the side of the feedback device that is closest to the future path of the robot. To test the effectiveness of the improved human-machine interface, two user studies were prepared and conducted. The first study aimed to quantitatively evaluate the ease of differentiating activation of individual tactors of the notification devices. The second user study aimed to assess the overall usability of the enhanced notification mode for improving human awareness about the planned trajectory of a robot. The results of the first experiment allowed to identify the tactors for which vibration intensity was most often confused by users. The results of the second experiment showed that the enhanced notification system allowed the participants to complete the task faster and, in general, improved user awareness of the robot's movement plan, according to both objective and subjective data. Moreover, the majority of participants (82%) favoured the improved notification system over its previous non-directional version and vision-based inspection.

• Klíčová slova
• haptic feedback device, human–machine interface, human–robot collaboration, human–robot interaction, mutual awareness, spatial tactile feedback,
• MeSH
• hmat MeSH
• lidé MeSH
• robotika * MeSH
• ruka MeSH
• uživatelské rozhraní počítače MeSH
• zpětná vazba MeSH
• Check Tag
• lidé MeSH
• Publikační typ
• časopisecké články MeSH

Human-robot interaction is becoming an integral part of practice. There is a greater emphasis on safety in workplaces where a robot may bump into a worker. In practice, there are solutions that control the robot based on the potential energy in a collision or a robot re-planning the straight-line trajectory. However, a sensor system must be designed to detect obstacles across the human-robot shared workspace. So far, there is no procedure that engineers can follow in practice to deploy sensors ideally. We come up with the idea of classifying the space as an importance index, which determines what part of the workspace sensors should sense to ensure ideal obstacle sensing. Then, the ideal camera positions can be automatically found according to this classified map. Based on the experiment, the coverage of the important volume by the calculated camera position in the workspace was found to be on average 37% greater compared to a camera placed intuitively by test subjects. Using two cameras at the workplace, the calculated positions were 27% more effective than the subjects' camera positions. Furthermore, for three cameras, the calculated positions were 13% better than the subjects' camera positions, with a total coverage of more than 99% of the classified map.

• Klíčová slova
• camera, collaboration, human–robot interaction, sensors network, workspace monitoring,
• MeSH
• lidé MeSH
• robotika * metody   MeSH
• Check Tag
• lidé MeSH
• Publikační typ
• časopisecké články MeSH

In a collaborative scenario, the communication between humans and robots is a fundamental aspect to achieve good efficiency and ergonomics in the task execution. A lot of research has been made related to enabling a robot system to understand and predict human behaviour, allowing the robot to adapt its motion to avoid collisions with human workers. Assuming the production task has a high degree of variability, the robot's movements can be difficult to predict, leading to a feeling of anxiety in the worker when the robot changes its trajectory and approaches since the worker has no information about the planned movement of the robot. Additionally, without information about the robot's movement, the human worker cannot effectively plan own activity without forcing the robot to constantly replan its movement. We propose a novel approach to communicating the robot's intentions to a human worker. The improvement to the collaboration is presented by introducing haptic feedback devices, whose task is to notify the human worker about the currently planned robot's trajectory and changes in its status. In order to verify the effectiveness of the developed human-machine interface in the conditions of a shared collaborative workspace, a user study was designed and conducted among 16 participants, whose objective was to accurately recognise the goal position of the robot during its movement. Data collected during the experiment included both objective and subjective parameters. Statistically significant results of the experiment indicated that all the participants could improve their task completion time by over 45% and generally were more subjectively satisfied when completing the task with equipped haptic feedback devices. The results also suggest the usefulness of the developed notification system since it improved users' awareness about the motion plan of the robot.

• Klíčová slova
• bidirectional awareness, haptic feedback device, human machine interface, human robot collaboration, human robot interaction, path planning,
• MeSH
• ergonomie MeSH
• lidé MeSH
• pohyb těles MeSH
• robotika * MeSH
• uživatelské rozhraní počítače MeSH
• zpětná vazba MeSH
• Check Tag
• lidé MeSH
• Publikační typ
• časopisecké články MeSH

The paper deals with a lead-through method of programming for industrial robots. The goal is to automatically reproduce 6DoF trajectories of a tool wielded by a human operator demonstrating a motion task. We present a novel motion-tracking system built around the HTC Vive pose estimation system. Our solution allows complete automation of the robot teaching process. Specific algorithmic issues of system calibration and motion data post-processing are also discussed, constituting the paper's theoretical contribution. The motion tracking system is successfully deployed in a pilot application of robot-assisted spray painting.

• Klíčová slova
• HTC Vive, collaborative robotics, industrial robots, lead-through programming, motion control, motion tracking, pose estimation, spray coating, trajectory planning,
• MeSH
• kalibrace MeSH
• lidé MeSH
• pohyb těles MeSH
• robotika * MeSH
• Check Tag
• lidé MeSH
• Publikační typ
• časopisecké články MeSH

In this analysis, we present results from measurements performed to determine the stability of a hand tracking system and the accuracy of the detected palm and finger's position. Measurements were performed for the evaluation of the sensor for an application in an industrial robot-assisted assembly scenario. Human-robot interaction is a relevant topic in collaborative robotics. Intuitive and straightforward control tools for robot navigation and program flow control are essential for effective utilisation in production scenarios without unnecessary slowdowns caused by the operator. For the hand tracking and gesture-based control, it is necessary to know the sensor's accuracy. For gesture recognition with a moving target, the sensor must provide stable tracking results. This paper evaluates the sensor's real-world performance by measuring the localisation deviations of the hand being tracked as it moves in the workspace.

• Klíčová slova
• collaborative robot, gesture, hand tracking, leap motion, robot,
• MeSH
• biosenzitivní techniky MeSH
• gesta MeSH
• lidé MeSH
• pohyb těles MeSH
• předpověď MeSH
• robotika * MeSH
• ruka * MeSH
• Check Tag
• lidé MeSH
• Publikační typ
• dopisy MeSH

This article deals with the design of a methodology for vibration and noise measurement on a six-axis collaborative robotic arm. A vibration and noise measurement methodology is proposed for six robot positions. In each position, measurements were performed under defined equal boundary conditions. The boundary conditions were related to the velocities of the joints and the load on the robotic arm. The second part of the article is an evaluation of the initial experimental results. So far, only the acceleration of the sixth joint of the robotic arm-Wrist 3-has been measured. The aim of the measurements was to verify if the methodology presented can be used for vibration measurements. From the evaluation of the experimental measurements, it was determined that the given methodology can be used for vibration measurements. It was also found that the acceleration is transmitted in the axes other than the axis of motion of the robotic arm. In future experiments, the vibration at the other joints of the robotic arm will be measured and the noise of the robotic arm will be measured to confirm whether the proposed methodology is indeed functional.

• Klíčová slova
• dominant frequency, six-axis robotic arm, vibration and noise,
• Publikační typ
• časopisecké články MeSH

Artificial intelligence (AI) has significantly impacted numerous industries, including health care, dentistry, and specifically prosthodontics. This review focuses on AI's role in prosthodontics, detailing its use in diagnosis, design, and manufacturing. AI-driven systems analyze intraoral scans, improve prosthetic planning, and aid in robotic procedures. Emerging technologies, such as generative AI for prosthetic design and AI-driven material innovation, are discussed alongside the ethical and regulatory challenges facing broader adoption. The review highlights AI's potential to transform prosthodontic workflows, facilitating more accurate, efficient, and personalized care, while also pointing to future developments such as real-time monitoring and enhanced collaboration platforms.

• Klíčová slova
• AI, Computer vision, Deep learning, Image analysis, Intraoral scan, Prosthesis,
• MeSH
• lidé MeSH
• robotika MeSH
• stomatologická protetika * metody   MeSH
• umělá inteligence * MeSH
• zubní protéza - design MeSH
• Check Tag
• lidé MeSH
• Publikační typ
• časopisecké články MeSH
• přehledy MeSH

Inspired by Richard Feynman's 1959 lecture and the 1966 film Fantastic Voyage, the field of micro/nanorobots has evolved from science fiction to reality, with significant advancements in biomedical and environmental applications. Despite the rapid progress, the deployment of functional micro/nanorobots remains limited. This review of the technology roadmap identifies key challenges hindering their widespread use, focusing on propulsion mechanisms, fundamental theoretical aspects, collective behavior, material design, and embodied intelligence. We explore the current state of micro/nanorobot technology, with an emphasis on applications in biomedicine, environmental remediation, analytical sensing, and other industrial technological aspects. Additionally, we analyze issues related to scaling up production, commercialization, and regulatory frameworks that are crucial for transitioning from research to practical applications. We also emphasize the need for interdisciplinary collaboration to address both technical and nontechnical challenges, such as sustainability, ethics, and business considerations. Finally, we propose a roadmap for future research to accelerate the development of micro/nanorobots, positioning them as essential tools for addressing grand challenges and enhancing the quality of life.

• Klíčová slova
• collective behavior, functionality, intelligence, micro/nanorobots, nanotechnology, propulsion, smart materials, technological translation,
• MeSH
• lidé MeSH
• nanotechnologie * metody   MeSH
• robotika * přístrojové vybavení   MeSH
• Check Tag
• lidé MeSH
• Publikační typ
• časopisecké články MeSH
• přehledy MeSH

Honey bees live in colonies of thousands of individuals, that not only need to collaborate with each other but also to interact intensively with their ecosystem. A small group of robots operating in a honey bee colony and interacting with the queen bee, a central colony element, has the potential to change the collective behavior of the entire colony and thus also improve its interaction with the surrounding ecosystem. Such a system can be used to study and understand many elements of bee behavior within hives that have not been adequately researched. We discuss here the applicability of this technology for ecosystem protection: A novel paradigm of a minimally invasive form of conservation through "Ecosystem Hacking". We discuss the necessary requirements for such technology and show experimental data on the dynamics of the natural queen's court, initial designs of biomimetic robotic surrogates of court bees, and a multi-agent model of the queen bee court system. Our model is intended to serve as an AI-enhanceable coordination software for future robotic court bee surrogates and as a hardware controller for generating nature-like behavior patterns for such a robotic ensemble. It is the first step towards a team of robots working in a bio-compatible way to study honey bees and to increase their pollination performance, thus achieving a stabilizing effect at the ecosystem level.

• Klíčová slova
• ecosystem hacking, honeybees, micro-robotics, queen behavior, swarm robotics,
• Publikační typ
• časopisecké články MeSH