The integration of expressive motion into collaborative robots (cobots) is gaining attention for its potential to enhance human-robot interaction. While robotic engineers often focus on safety, productivity and efficiency, animators’ expertise in creating lifelike characters could bring valuable insights into motion design for human-robot interaction. However, most existing animation workflows lack tools that support non-technical users in designing expressive motion within robotic safety constraints. This paper introduces a custom suite of animation tools developed in Blender to address this gap. These tools enable animators to control gaze direction, rotational angles, and positional constraints more easily while staying within the physical limits of real robotic hardware. The current toolset includes a visual line-of-sight system, global coordinate tracking, and a hybrid Inverse/Forward Kinematics (IK/FK) rig that respects joint limitations. This research evaluates whether such Blender tools enhance animators’ experience and efficiency in creating safe and expressive movements, while also considering certain limitations, such as end effector location and joint angle precision. The study involves animators creating emotionally expressive motions both with and without the tools, followed by non-expert participants observing the animations on a physical cobot. Parameters including animation time, perceived usability, motion clarity, and safety are tested through quantitative measurements and subjective assessments collected via surveys and observational analysis. This work offers a practical framework that bridges the gap between expressive animations and safe robotic motion, with broader implications for collaborative robotics, animation software design, and human-robot interaction.

Authors:
Tan Jui Hien, Nanyang Technological University, Singapore
Ridhima Bector, Nanyang Technological University, Singapore
Bernhard Johannes Schmitt, Nanyang Technological University, Singapore
Domenico Campolo, Nanyang Technological University, Singapore

About the Presenter(s)
Mr Tan Jui Hien is currently a Research Assistant in Nanyang Technological University, School of Art Design & Media, Singapore.

See this presentation on the full schedule – Wednesday Schedule

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