Body-borne assistive robots for human-dependent precision construction: The compensation of human imprecision in navigating 3-dimensional space with a stand-alone, adaptive robotic system

Abstract

The rapid growth of complex contemporary architecture design, contributed by the advance in parametric CAD/CAM software, is accompanied by challenges in the production process; it demands both highly trained workers and technical equipments. This paper reviews current technologies in robotics-aided construction and wearable computers for generic purposes, and proposes the design of a robotic device for construction guidance. It guides the user, the worker, through the assembly process of precision modular constructions, by providing procedural mechanical or haptic assistance in the 3-dimensional positioning of building components. The device is designed to be wearable, portable, and operable as a completely stand-alone system that requires no external infrastructure. A prototype of the device is tested with a mock-up masonry construction experiment, the result of which is reported in this paper, along with discussion for future improvement and application opportunities within the context of highly developed, condensed Japanese urban environments. A greater objective of this paper is to bridge current studies in Human-Computer Interaction (HCI) and digital fabrication in architecture and promote the potentials of human workers in future construction scenes.