Human-Centered Collaborative Robotic Workcell Facilitating Shared Autonomy for Disability-Inclusive Manufacturing

Workers with upper-limb disabilities face difficulties in performing manufacturing tasks requiring fine manipulation, stable handling, and multistep procedural understanding. To address these limitations, this paper presents an integrated collaborative workcell designed to support disability-inclusive manufacturing. The system comprises four core modules: a JSON-based collaboration database that structures manufacturing processes into robot–human cooperative units; a projection-based augmented reality (AR) interface that provides spatially aligned task guidance and virtual interaction elements; a multimodal interaction channel combining gesture tracking with speech and language-based communication; and a personalization mechanism that enables users to adjust robot behaviors—such as delivery poses and user-driven task role switching—which are then stored for future operations. The system is implemented using ROS-style modular nodes with an external WPF-based projection module and evaluated through scenario-based experiments involving workers with upper-limb impairments. The experimental scenarios illustrate that the proposed workcell is capable of supporting step transitions, part handover, contextual feedback, and user-preference adaptation within a unified system framework, suggesting its feasibility as an integrated foundation for disability-inclusive human–robot collaboration in manufacturing environments.