Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: CobotGear: Interaction with Collaborative Robots using Wearable Optical
  Motion Capturing Systems   In industrial applications, complex tasks require human collaboration since
the robot doesn't have enough dexterity. However, the robots are still
implemented as tools and not as collaborative intelligent systems. To ensure
safety in the human-robot collaboration, we introduce a system that presents a
new method that integrates low-cost wearable mocap, and an improved collision
avoidance algorithm based on the artificial potential fields. Wearable optical
motion capturing allows to track the human hand position with high accuracy and
low latency on large working areas. To increase the efficiency of the proposed
algorithm, two obstacle types are discriminated according to their collision
probability. A preliminary experiment was performed to analyze the algorithm
behavior and to select the best values for the obstacle's threshold angle
$\theta_{OBS}$, and for the avoidance threshold distance $d_{AT}$. The second
experiment was carried out to evaluate the system performance with $d_{AT}$ =
0.2 m and $\theta_{OBS}$ = 45 degrees. The third experiment evaluated the
system in a real collaborative task. The results demonstrate the robust
performance of the robotic arm generating smooth collision-free trajectories.
The proposed technology will allow consumer robots to safely collaborate with
humans in cluttered environments, e.g., factories, kitchens, living rooms, and
restaurants.

3
The categories of this paper are: physics
29
The categories of this paper are: funct-an
13
The categories of this paper are: quant-ph
11
The categories of this paper are: hep-lat
19
The categories of this paper are: eess
23
The categories of this paper are: solv-int
20
The categories of this paper are: acc-phys
16
The categories of this paper are: stat
37
The categories of this paper are: supr-con
34
The categories of this paper are: chem-ph
28
The categories of this paper are: alg-geom
18
The categories of this paper are: econ
32
The categories of this paper are: atom-ph
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The categories of this paper are: adap-org
35
The categories of this paper are: mtrl-th
33
The categories of this paper are: plasm-ph