Safe and Intuitive Human-Robot Collaborative Assembly with Potential Field-Based Dynamic Obstacle Avoidance and Gestured-Based Communication Interface

We present a robotic system that enhances human-robot collaboration (HRC) in manufacturing through intuitive gesture recognition and dynamic obstacle avoidance. Despite the growing adoption of HRC systems, significant challenges persist in creating natural interfaces and maintaining safety without impeding workflow. Our contributions include: (1) a motion planning algorithm with dampening and softening components for safe and efficient obstacle avoidance; (2) an accurate gesture recognition and tool detection model; and (3) a finite state machine that translates human gestures into fitting assistance actions. We validate our approach through a manufacturing case study that shows improved collaboration efficiency while maintaining safety. Results show that our system reduces production delays by eliminating the need for workers to divert attention from assembly tasks to manage robot interactions, thereby creating more natural and productive human-robot partnerships in manufacturing settings.