author = "Rodamilans, Guilherme Boulhosa and Villani, Em{\'{\i}}lia and 
                         Trabasso, Lu{\'{\i}}s Gonzaga and Oliveira, Wesley Rodrigues de 
                         and Suterio, Ricardo",
          affiliation = "{Instituto Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and 
                         {Instituto Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and 
                         {Instituto Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and 
                         {Instituto Tecnol{\'o}gico de Aeron{\'a}utica (ITA)} and 
                         {Instituto Nacional de Pesquisas Espaciais (INPE)}",
                title = "A comparison of industrial robots interface: force guidance system 
                         and teach pendant operation",
              journal = "Industrial Robot: An International Journal",
                 year = "2016",
               volume = "43",
               number = "5",
                pages = "552--562",
             keywords = "Cooperative robots, Force guidance systems, Human-Robot 
                         interaction, Robot agility metrics.",
             abstract = "Purpose This paper aims to propose an evaluation method to compare 
                         two different HumanRobot Interaction (HRI) solutions that can be 
                         used for on-line programming in an industrial context: a force 
                         guidance system and the traditional teach pendant operation. 
                         Design/methodology/approach The method defines three evaluation 
                         criteria (agility, accuracy and learning) and describes an 
                         experimental approach based on the analysis of variance to verify 
                         the performance of guidance systems according to these criteria. 
                         This method is used in this paper to compare the traditional teach 
                         pendant interface with an implementation of a force guidance 
                         system based on the use of an external force/torque sensor. 
                         Findings The application of the proposed method to an 
                         off-the-shelf industrial robot shows that the force guidance 
                         system has a better performance according to the agility 
                         criterion. Both solutions have a similar performance for the 
                         accuracy criterion, with a limit of about 2 mm in the achieved 
                         position accuracy. Regarding the learning criterion, the authors 
                         cannot affirm that any of the methods has an improved agility when 
                         the operator repeats the tasks. Practical implications This work 
                         supports the selection of guidance systems to be used in on-line 
                         programming of industrial applications. It shows that the force 
                         guidance system is an option potentially faster than the teach 
                         pendant when the required positioning accuracy is greater than 2 
                         mm. Originality/value The new method proposed in this paper can be 
                         applied to a large range of robots, not being limited to 
                         commercial available collaborative robots. Furthermore, the method 
                         is appropriate to accomplish further investigations in HRI not 
                         only to compare programming methods but also to evaluate guidance 
                         systems approaches or robot control systems.",
                  doi = "10.1108/IR-02-2016-0074",
                  url = "http://dx.doi.org/10.1108/IR-02-2016-0074",
                 issn = "0143-991X",
                label = "lattes: 8464326901644595 5 RodamilansVilTraOliSut:2016:FoGuSy",
             language = "en",
           targetfile = "rodamilans_comparison.pdf",
        urlaccessdate = "28 nov. 2020"