Gymnast CoBot
A UR-10 projected its intent before moving and adjusted handover height and rhythm from live fatigue signals and worker preference.
The NSF-funded prototype combined biosignatures, gesture programming, projection, and physical adaptation so the robot supported the person without hiding its next move.
Role
Research design engineerHRI and interface design
Outcome
An NSF-funded live industrial prototype joining fatigue estimation, gesture control, projected intent, and worker-set assistance.
The worker–robot contract
Assistance stayed legible and adjustable.
Heart rate, movement, and worker attributes fed a live fatigue estimate that adjusted the UR-10’s handover height and rhythm. The estimate did not dictate one level of assistance: workers selected a range from strain reduction to exercise, and the robot adapted within it. Wristband gestures kept control hands-free, while projection showed the robot’s intended path before it moved. Biosignatures, interface, and physical adaptation worked as one support system the person beside it could understand.
At a glance
NSF Award #1928654 · UR-10 live prototype · Closed fatigue-adjustment loop
In the record
Fatigue-to-adjustment flowchart · Gesture-programming studies · Projected interface on physical box · Worker-preference support-range protocol · Biosignature sensing studies · UR-10 handover testing record
Make intent legible
Projection showed where the robot planned to move before that motion affected the worker beside it.
Close the loop
Heart rate and movement informed micro-adjustments to height and rhythm inside a worker-selected support range.
Design the whole handoff
Gestures, projection, system logic, industry research, and the physical UR-10 adaptation were developed as one interface.