Abstract In this paper, we propose a new formulation to consider visual–spatial attention in order to improve the comfort of a human standing or operating near a collaborative robot. This formulation is based on the principle of having the robot’s end-effector in the human visual–spatial attention as much as possible. The integration of this new constraint into the Inverse Kinematics (IK) problem is thoroughly studied and efficient solutions are proposed. Moreover, to allow the robot to react rapidly in the case of unforeseen events, adding the manipulability index to the IK problem is also studied and its impact is analyzed. The proposed method is then extensively tested in simulation and verified on the real Baxter research robot, these experiments pointed out the method efficiency to improve the task visibility while avoiding self-occlusion and singular configurations. Moreover, real experiments revealed the method robustness to uncertainties such as imprecision of detecting human gaze direction.

中文翻译：

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视觉空间注意力作为人机协作任务中的舒适度度量

摘要在本文中，我们提出了一种新的公式来考虑视觉空间注意力，以提高人类站立或在协作机器人附近操作的舒适度。这个公式是基于让机器人的末端执行器尽可能多地引起人类视觉空间注意的原则。深入研究了这个新约束与逆向运动学 (IK) 问题的整合，并提出了有效的解决方案。此外，为了让机器人在发生不可预见的事件时能够迅速做出反应，还研究了在 IK 问题中加入可操纵性指标并分析了其影响。然后，所提出的方法在模拟中进行了广泛的测试，并在真正的 Baxter 研究机器人上进行了验证，这些实验指出了在避免自遮挡和奇异配置的同时提高任务可见性的方法效率。此外，实际实验揭示了该方法对不确定性的鲁棒性，例如检测人类注视方向的不精确性。