ROBOT ARM WITH A HUMAN-MACHINE INTERFACE

Description

[0001] The invention relates to a robot arm having a plurality of joints and a plurality of links, each of which connects two adjacent joints to one another, wherein at least one of these links has a human-machine interface, comprising at least one display means designed to display at least one system state of the robot arm and / or of a control device connected to the robot arm for control purposes, and comprising at least one input means designed to supply at least one manual input via the human-machine interface to the robot arm and / or to a control device connected to the robot arm for control purposes.

[0002] EP 1 566 246 A1 discloses a robot with a display device that allows an operator to refer to information required for inspections or the like without having to use a printed manual or a display screen of a teaching pendant. The display device comprises a flexible screen containing organic light-emitting diodes, a control unit, and a connector. The display device connector is inserted into a connector provided at a suitable location on the robot arm, with the display unit being lightly pressed onto the surface of the robot arm. The surface of the robot arm can be curved or flat.

[0003] From DE 10 2014 107642 A1 a manipulator is known which has a human-machine interface with a touchscreen.

[0004] DE 10 2015 117211 B3 discloses a robot arm with several actuator-driven joints. A free end of an extension of an arm segment of the robot arm has input elements.

[0005] It is known from DE 199 28 519 A1 that a display device is provided on a three-dimensional coordinate measuring system.

[0006] From EP 3 147752 A1 a user interface for a robot is known, wherein the user interface extends over the surface of the robot.

[0007] From US 2008 / 147239 A1 a device is known which displays information on a surface, wherein the device itself is a flexible display.

[0008] The object of the invention is to create a robot arm with a human-machine interface that can be operated in a particularly ergonomic manner, in particular manually controlled.

[0009] This object is achieved according to the invention by a robot arm according to claim 1.

[0010] In general, a robot comprises a robot arm, i.e. the so-called kinematics, and a control device that controls the robot arm, i.e. a robot controller. In addition to its functionality for controlling the movements of the robot arm, the robot controller can also have further supplementary control components or control functionalities. These further supplementary control components or control functionalities can be the configuration device of the human-machine interface according to the invention and / or the evaluation device of the human-machine interface according to the invention. However, the configuration device according to the invention and / or the evaluation device according to the invention can be designed separately from the robot controller. The configuration device according to the invention and / or the evaluation device according to the invention can in particular be part of the structural unit of the human-machine interface.The configuration device according to the invention and / or the evaluation device according to the invention can accordingly be arranged, for example, outside the robot arm or be part of the robot arm, ie in particular be arranged within the robot arm.

[0011] The human-machine interface represents a user interface with which a person can communicate with the robot or its robot controller. Communication can be unidirectional or bidirectional. Communication in one direction can consist of the robot or the robot controller informing the person of a specific state of the robot or its robot controller. This can be done via at least one display. In the simplest case, the display can be a light that lights up as soon as a specific assigned state occurs. Communication in the other direction can consist of the person making an input to inform the robot or the robot controller of a command or a desired change in state for the robot or the robot controller. This can be done via at least one input.In the simplest case, the input device can be a button or switch, the manual actuation of which causes the robot or robot controller to undergo a specific state change. This could, for example, be turning the robot on or off.

[0012] In the case of the present invention, various display means can be provided. Certain display means can be designed according to the prior art and only display certain system states. In particular, at least one display means according to the invention is used to optically highlight a partial area section of a tactile sensor surface of the robot arm in order to optically indicate to a person that precisely this partial area section of the tactile sensor surface is activated as an input means, so that an input can be made by actuating this partial area section of the tactile sensor surface. The desired partial area section of the tactile sensor surface, i.e. the partial area activated as an input means, can be directly illuminated or indirectly illuminated by the display means according to the invention.

[0013] Manual inputs at the human-machine interface can be made by a person by pressing the input means, for example by means of a finger of the person's hand, wherein the manually applied pressure on the input means is converted, for example, into an electrical signal that is passed to the evaluation device or the robot controller, wherein the evaluation device or the robot controller is configured to establish a specific associated system state based on the signal.

[0014] A representative process, for example, is the selection and activation of a specific axis of the robot arm—i.e., a specific joint of the robot arm that is to be moved manually but motor-driven—by a first input device. This selected and activated joint of the robot arm can then be moved by at least one second input device, for example, by the person manually pressing either a plus button or a minus button in order to move this joint of the robot arm, which can in particular be a rotary joint, motor-driven but manually controlled, clockwise or counterclockwise.

[0015] The outer shell wall of the respective member having the human-machine interface according to the invention can be a housing shell of the respective member. The outer shell wall of the respective member can be the outer wall of a supporting structural component of the member. However, the outer shell wall of the respective member can also be another panel, a covering, or a holding device, provided that it is designed to make the human-machine interface accessible to a person from outside the robot arm.

[0016] The tactile sensor surface can be designed to extend only over a part of the total surface of the relevant member of the robot arm. However, the tactile sensor surface can be designed to extend at least largely or completely over the total surface of the relevant member of the robot arm. According to the invention, in addition to its inventive functionality as part of a human-machine interface, the tactile sensor surface is further designed, i.e., configured, with a functionality for detecting collisions between the robot arm and another object. This means that, in a specific embodiment, the tactile sensor surface according to the invention can optionally be used both as part of the human-machine interface and as part of a collision detection system.

[0017] According to the invention, the tactile sensor surface is at least designed and configured to detect, i.e., automatically perceive, contact of, for example, a hand, a finger, or another body part of a person with the robot arm at the correspondingly configured location, i.e., at the partial surface section. For example, the tactile sensor surface can be constructed from a plurality of pressure sensors distributed over the surface. The pressure sensors are designed to detect acting forces and, if necessary, also to measure their magnitude.

[0018] Alternatively, the tactile sensor surface can also operate without pressure or almost without pressure, for example, if the tactile sensor surface is constructed from a plurality of capacitive sensors distributed over a large area. In this case, a corresponding change in the capacitance of the capacitive sensors can be perceived even if, for example, a hand, a finger, or another body part of the person only lightly touches the tactile sensor surface without exerting any significant pressure. Nevertheless, within the scope of the invention, reference is made to a pressure force, even if this "pressure force" can be almost or completely "zero."

[0019] Tactile sensor surfaces that can be used within the scope of the invention, for example, can be designed according to EP 2 528 234 B1.

[0020] The feature of the superimposed arrangement of the display surface and the tactile sensor surface can preferably be implemented such that the display surface is formed as a thin layered body that is placed on the tactile sensor surface or connected to the tactile sensor surface in the manner of a sandwich structure. It is also possible that, in the case of a (partially) see-through or (partially) transparent design of the tactile sensor surface, the display surface can be arranged behind the tactile sensor surface. Optionally, in a special embodiment, the display surface can also be arranged next to the tactile sensor surface, provided that the display surface or the display means is suitable for illuminating the desired partial area of ​​the tactile sensor surface.

[0021] Illuminating the tactile sensor surface generally means that the display means is designed and configured to optically highlight the desired partial area of ​​the tactile sensor surface. This primarily means that the display means illuminates the partial area of ​​the tactile sensor surface. In specific modifications, optical highlighting can, however, also be achieved, for example, by highlighting the desired partial area of ​​the tactile sensor surface by not directly illuminating this partial area, but rather, for example, by visually highlighting the partial area by means of a frame-like border around the partial area, which border is created by the illumination by the display means.The reverse is also possible, namely that almost the entire tactile sensor surface is illuminated by the display means and only the desired and activated partial area of ​​the tactile sensor surface is left unilluminated.

[0022] The configuration device can be designed to dynamically illuminate either a first partial area section of the tactile sensor surface or a second partial area section of the tactile sensor surface that is different from the first partial area section.

[0023] By designing the configuration device to dynamically illuminate either a first partial surface section of the tactile sensor surface or a second partial surface section of the tactile sensor surface that is different from the first partial surface section, a specific input means can be displayed functionally at various locations on the surface of the relevant link of the robot arm. If multiple links of the robot arm have tactile sensor surfaces and display means, the specific input means can be displayed functionally at one link or at one of the other links.

[0024] The configuration device can accordingly be designed to illuminate the optional first partial area section of the tactile sensor surface or the optional second partial area section of the tactile sensor surface with a similar representation, upon touching which the same signal is generated in terms of control technology in order to activate the same function in both dynamic configurations.

[0025] Since the configuration device is designed to dynamically illuminate either a first partial area section of the tactile sensor surface or a second partial area section of the tactile sensor surface that is different from the first partial area section, it can also be provided that different types of input means can be displayed in a functional manner at the same location on a link, i.e. at the same first partial area section, for example at different times. In this way, a specific input means can be displayed and shown in a functional manner at a precise location on the link, which is replaced by another specific input means at the same location. Which input means is specifically displayed can result, for example, from the system state of the robot arm or the programming state, in particular of the robot controller. For example, the most suitable input means can always be displayed.

[0026] The configuration device can, for example, be designed to dynamically illuminate either a first partial area section of the tactile sensor surface or a second partial area section of the tactile sensor surface that is different from the first partial area section depending on the current joint positions of the robot arm.

[0027] For example, the input means can be shown functional in a first joint position on an upper side of a link and, in the event of this link being pivoted by 180 degrees, this input means on the same link can be shown as previously functional on an opposite partial surface section of this link, so that even when the link is pivoted by 180 degrees, this input means continues to be shown functional on the upper side.

[0028] The configuration device can accordingly be designed to maintain the shape of the optically highlighted partial surface section of the tactile sensor surface and, in the event of a change in the current position and / or orientation of that member of the robot arm which has the human-machine interface, to dynamically adapt the optically highlighted partial surface section of the tactile sensor surface with regard to its position and / or orientation in such a way that a virtual input means generated by the optical highlighting of the partial surface section of the tactile sensor surface maintains its position and / or orientation in space.

[0029] The configuration device can be designed to dynamically illuminate either a first partial area section of the tactile sensor surface or a second partial area section of the tactile sensor surface that is different from the first partial area section depending on the position of a person operating the human-machine interface relative to the robot arm.

[0030] For example, even if the joint positions of the robot arm remain the same, it may be expedient to move the input means from one side of the respective link to the opposite side of the link if a person, e.g. a programmer of the robot, changes his position from one side of the robot arm to the other side of the robot arm.

[0031] The tactile sensor surface of the at least one member of the robot arm having the human-machine interface is designed and configured to detect unintentional collisions of the member with other objects, wherein, however, that partial surface section of the tactile sensor surface which is activated to form the input means is deactivated for detecting an unintentional collision, such that upon touching this activated partial surface section of the tactile sensor surface, a signal which is control-relatedly assigned to this partial surface section by the configuration device is generated.

[0032] This prevents an intended manual input at the human-machine interface by pressing a key from being mistakenly interpreted by the control system as an unintentional collision.

[0033] The tactile sensor surface of the at least one member of the robot arm having the human-machine interface can be designed and configured to detect unintentional collisions of the member with other objects and, in the event of a collision, to generate a first signal characterizing the unintentional collision only if the collision force exceeds a predetermined pressure force limit value, wherein the partial surface section of the tactile sensor surface that is activated to form the input means, such that upon contact with this activated partial surface section of the tactile sensor surface, a signal associated with this partial surface section by the configuration device is generated in a control-technically manner, only then generates a second signal characterizing an input if the input force is below the predetermined pressure force limit value.

[0034] This also prevents an intended manual input at the human-machine interface by pressing a key from being mistakenly interpreted by the control system as an unintentional collision.

[0035] Alternatively or additionally, the tactile sensor surface of the at least one member of the robot arm having the human-machine interface can be designed and configured to form an enabling switch means, wherein the partial surface section of the tactile sensor surface that is activated to form the enabling switch means generates an enabling signal that is assigned to this partial surface section by the configuration device in terms of control technology when this activated partial surface section of the tactile sensor surface is touched only if the input force is below a predetermined maximum pressure force limit value and above a predetermined minimum pressure force limit value.

[0036] Mechanical enabling devices as such are commonly used in separate robot handsets and are sometimes even required for safety reasons. Such enabling devices generally have a "panic function," meaning that movement of the robot arm controlled by the robot handset is only possible if the enabling device is manually activated – with a certain finger force. If the enabling device is not activated, no movement of the robot arm is possible. However, if the enabling device, activated with a certain finger force, is pressed beyond a maximum force, for example, in a frightening situation in which a user reflexively clenches their fingers, the enabling device is "overpressed," so to speak, and the robot arm's authorization to move is immediately withdrawn, meaning the enabling device switches off.In the present embodiment according to the invention, the tactile sensor surface replaces the known mechanical enabling switch with a programmable, force-sensor touch enabling switch. It is particularly advantageous that the maximum pressure force limit and / or the minimum pressure force limit can be individually adjustable and / or defined by control technology, particularly by programming technology, i.e., by software configuration.

[0037] The optical highlighting of the partial area of ​​the tactile sensor surface and / or the activation of the optically highlighted partial area of ​​the tactile sensor surface can be designed so that it can be switched off by the configuration device.

[0038] The optical highlighting of the partial area of ​​the tactile sensor surface and / or the activation of the optically highlighted partial area of ​​the tactile sensor surface can be automatically switched off by the configuration device after a predetermined period of time.

[0039] The configuration device can be programmable with regard to the position, orientation, and / or shape of the optically highlighted partial area of ​​the tactile sensor surface and the respective type of associated signal that is generated when this partial area of ​​the tactile sensor surface is touched.

[0040] The configuration device can be designed and configured for programming by means of a control device separate from the configuration device, in particular by means of the robot control of the robot arm or a portable tablet computer.

[0041] In addition to the at least one display means for illuminating a specific partial area section of the tactile sensor surface of the input means, the configuration device can have at least one further display means which is designed only to display other information without a specific partial area section being assigned to the tactile sensor surface.

[0042] Accordingly, at least one display means of the human-machine interface according to the invention can also be designed as a simple display means without an input function, so that the human-machine interface according to the invention can also display additional displays independently of the formation of an input means. These can, for example, also be texts, images, or symbols that have explanatory or indicative functions without constituting an input means.

[0043] The tactile sensor surface can comprise a pressure-sensitive skin and / or capacitive proximity sensors. The tactile sensor surface can be designed, for example, according to EP 2 528 234 B1.

[0044] The display means may comprise a flexible LED display.

[0045] The invention is summarized again below, sometimes in different terms.

[0046] By variably displaying control units, i.e., input devices, in an active robot skin, i.e., the surface of robot limbs, local areas of the robot arm can be assigned an input function. These local areas can always be selected so that they are easily accessible to the user. This ensures that the control elements are always accessible.

[0047] The visually displayed control elements or input devices can be programmable buttons or sliders, for example. This could be a button for teaching, or an entire numeric keypad for entering numbers. A slider, for example, can be programmed so that an axis that is difficult to access manually, i.e., a joint, can be moved at the touch of a button from another location on the robot arm, controlled via input devices on a particular other link of the robot arm.

[0048] The variable display of programmed control elements can be used in combination with tactile robot skin sensors, i.e., a tactile sensor surface. In this case, an area of ​​the robot skin is masked out for detecting unwanted collisions and instead assigned to specific functions. In this case, however, an unwanted collision of the robot cannot be detected.

[0049] The function for variable display of control elements in the robot skin can therefore also be deactivated. This ensures that all active areas of the robot skin can detect unwanted collisions.

[0050] The variable control panels can be programmed using software, e.g. in the form of an "app".

[0051] A tablet PC can be used to display the programmed control panels.

[0052] If necessary, the displayed control panel can be provided with a time delay so that it is automatically deactivated after a programmed period of time.

[0053] When using capacitive skin sensors, the display of control elements can also be used.

[0054] The active skin, which can be tactile or capacitive, can, for example, incorporate programmable LEDs. Programming means that, on the one hand, the LEDs can be switched on and off, allowing any symbol to be displayed. On the other hand, a function can be defined for the area of ​​the skin where the LEDs display a symbol. This function can be executed when this area of ​​the skin is manually pressed. A force threshold can be programmed that must be exceeded for an input to be recognized.

[0055] The invention eliminates the previous fixed location of input devices in favor of a dynamic arrangement of input devices. The LEDs can be variably integrated, i.e., "emerge," at multiple locations in the skin. The LEDs can display any symbol (e.g., buttons, sliders, keypads, etc.) in any color. The displayed symbols can be linked to programmable functions. Force thresholds can be programmed to detect an input and / or activate a function. Activation of the skin control function can be achieved via a control element, e.g., on the robot's foot via a mobile control device.

[0056] The softness of the skin is not impaired at this point. Collision detection can be deactivated for the area of ​​the skin that is active for a programmed input. A programmable "timeout" can be used to deactivate the displayed symbols and / or functions.

[0057] Examples of possible implementations include: A hard shell can form the basis for the human-machine interface according to the invention. An active skin (tactile or capacitive) can be attached to the hard shell. For example, a specially adapted fabric with integrated programmable LEDs can be pulled over the active skin and secured.

[0058] A specific embodiment of the invention is explained in more detail in the following description with reference to the accompanying figures. Regardless of the specific context in which they are mentioned, specific features of this exemplary embodiment may represent general features of the invention, even when considered individually or in further combinations.

[0059] They show: Fig. 1 shows an exemplary robot arm with several joints and links connecting these joints, Fig. 2 shows a schematic sectional view through a representative link of a robot arm with a human-machine interface according to the invention in a first link position, and Fig. 3 shows a schematic sectional view through the link according to Fig. 2 in a second limb position.

[0060] In the Fig. 1 A representative embodiment of a robot 1 is shown with a robot arm 2 and an associated robot controller 3. The robot arm 2 has several links 4 and joints 5 that adjust the links 4 relative to one another. Each joint 5 is driven by a respective joint motor of the robot arm 2. The robot controller 3 is designed and configured to control the joint motors in order to move the links 4 of the robot arm 2 by automatically adjusting the joints 5.

[0061] Accordingly, the robot arm 2 has a plurality of motor-driven joints 5 and a plurality of links 4, each of which connects two adjacent joints 5 of these driven joints 5 to one another, wherein at least one of these links 4 has a supporting structural component designed to transmit forces and / or moments from one adjacent joint 5.1 to the other adjacent joint 5.2. In the case of the present exemplary embodiment, one link 4a of the plurality of links 4 is equipped with a human-machine interface 6. In general, however, two, several, or even all links 4 of the robot arm 2 can each have their own human-machine interface 6.

[0062] As in Fig.2 and Fig. 3 As shown schematically, the human-machine interface 6 has at least one display means 7, which is designed to display at least one system state of the robot arm 2 and / or of a control device 3 connected to the robot arm 2 for control purposes. The human-machine interface 6 also has at least one input means 8, which is designed to supply at least one manual input via the human-machine interface 6 to the robot arm 2 and / or to the control device 3 connected to the robot arm 2 for control purposes.

[0063] According to the invention, the at least one input means 8 comprises a tactile sensor surface 8.1 arranged on an outer casing wall M of the member 4, 4a, and the at least one display means 7 comprises a display surface 7.1 superimposed with the tactile sensor surface 8.1. The human-machine interface 6 has a configuration device 9 which controls the display means 7 and the input means 8 and which is configured to optically highlight a partial surface section T of the tactile sensor surface 8.1 due to the superimposed arrangement of the display surface 7.1 and the tactile sensor surface 8.1 by illuminating a specific partial surface section T of the tactile sensor surface 8.1 of the input means 8 using the display means 7, and to separately activate this optically highlighted partial surface section T of the tactile sensor surface 8.1 using control technology, such that when a partial surface section T of the tactile sensor surface 8.1 is activated on this partial surface section T.1 exerted pressure force, a signal is generated which is control-technically assigned to this partial surface section T by the configuration device 9 and is passed to an evaluation device 10 of the human-machine interface 6.

[0064] In the case of the present embodiment, the configuration device 9 is designed for dynamically illuminating optionally a first partial surface section T1 ( Fig. 2 ) of the tactile sensor surface 8.1 or of a second partial surface section T2 different from the first partial surface section T1 ( Fig. 3 ) of the tactile sensor surface.

[0065] The configuration device 9 is particularly designed to illuminate the optional first partial area section T1 of the tactile sensor surface 8.1 or the optional second partial area section T2 of the tactile sensor surface 8.1 with a similar representation, upon contact of which the same signal is generated in terms of control technology in order to be able to illuminate the tactile sensor surface 8.1 in both dynamic configurations, as in Fig. 2 and Fig. 3 shown to activate the same function.

[0066] The configuration device 9 is particularly designed for dynamically illuminating either the first partial surface section T1 of the tactile sensor surface 8.1 or the second partial surface section T2 of the tactile sensor surface 8.1, which is different from the first partial surface section T1, depending on the current joint positions of the robot arm 2.

[0067] The configuration device 9 can in particular be designed to maintain the shape of the optically highlighted partial surface section T, T1, T2 of the tactile sensor surface 8.1 and, in the event of a change in the current position and / or orientation of that member 4a of the robot arm 2 which has the human-machine interface 6, to dynamically adapt the optically highlighted partial surface section T, T1, T2 of the tactile sensor surface 8.1 with regard to its position and / or orientation in such a way that a virtual input means 8 generated by the optical highlighting of the partial surface section T, T1, T2 of the tactile sensor surface 8.1 maintains its position and / or orientation in space.

[0068] The tactile sensor surface 8.1 of the at least one link 4a of the robot arm 2, which has the human-machine interface 6, is also designed and configured to detect unintentional collisions of the link 4a with other objects, wherein, however, that partial surface section T, T1, T2 of the tactile sensor surface 8.1 which is activated to form the input means 8 is deactivated for detecting an unintentional collision, such that when this activated partial surface section T, T1, T2 of the tactile sensor surface 8.1 is touched, a signal which is control-relatedly assigned to this partial surface section T, T1, T2 by the configuration device 9 is generated.

[0069] Alternatively, the tactile sensor surface 8.1 of the at least one member 4a of the robot arm 2, which has the human-machine interface 6, can be designed and configured to detect unintentional collisions of the member 4a with other objects and, in the event of a collision, only generates a first signal characterizing the unintentional collision if the collision force exceeds a predetermined pressure force limit value, wherein the partial surface section T, T1, T2 of the tactile sensor surface 8.1 that is activated to form the input means 8, such that upon contact with this activated partial surface section T, T1, T2 of the tactile sensor surface 8.1, a signal associated with this partial surface section T, T1, T2 is generated by the configuration device 9 in terms of control technology, only generates a second signal characterizing an input if the input force is below the predetermined pressure force limit value.

[0070] The optical highlighting of the partial area section T, T1, T2 of the tactile sensor surface 8.1 and / or the activation of the optically highlighted partial area section T, T1, T2 of the tactile sensor surface 8.1 can be designed so that it can be switched off by the configuration device 9.

[0071] The optical highlighting of the partial area section T, T1, T2 of the tactile sensor surface 8.1 and / or the activation of the optically highlighted partial area section T, T1, T2 of the tactile sensor surface 8.1 can be automatically switched off by the configuration device 9 after a predetermined period of time has elapsed.

[0072] The configuration device 9 can be programmable with regard to the position, orientation, and / or shape of the optically highlighted partial surface section T, T1, T2 of the tactile sensor surface 8.1 and the respective type of the associated signal that is generated when this partial surface section T, T1, T2 of the tactile sensor surface 8.1 is touched.

[0073] The configuration device 9 is in particular designed and configured for programming by means of a control device separate from the configuration device 9, in particular by means of the robot controller 3 of the robot arm 2 or a portable tablet computer 11.

[0074] In addition to the at least one display means 7 for illuminating a specific partial area section T, T1, T2 of the tactile sensor surface 8.1 of the input means 8, the configuration device 9 can have at least one further display means 7.2 which is designed only to display other information, without a specific partial area section T, T1, T2 being assigned to the tactile sensor surface 8.1.

[0075] In the present embodiment, the tactile sensor surface 8.1 is a pressure-sensitive skin and can additionally comprise capacitive proximity sensors. In the present embodiment, the display means 7 comprises a flexible LED display.

Claims

1. Robot arm, having a plurality of joints (5) and a plurality of links (4), which each connect two adjacent joints (5) to one another, wherein at least one of said links (4, 4a) has a human-machine interface (6), comprising at least one display means (7), which is designed to display at least one system state of the robot arm (2) and / or of a control device (3) connected in terms of control technology to the robot arm (2), and comprising at least one input means (8), which is designed to supply at least one manual input via the human-machine interface (6) to the robot arm (2) and / or to a control device (3) connected in terms of control technology to the robot arm (2), wherein the at least one input means (8) comprises a tactile sensor surface (8.1) arranged on an outer casing wall (M) of the link (4a), the at least one display means (7) comprises a display surface (7.1) superimposed on the tactile sensor surface (8.1) and the human-machine interface (6) has a configuration device (9), which actuates the display means (7) and the input means (8) and which is set up to visually highlight a certain partial surface section (T, T1, T2) of the tactile sensor surface (8.1) due to the superimposed arrangement of the display surface (7.1) and the tactile sensor surface (8.1) by illuminating said partial surface section (T, T1, T2) of the tactile sensor surface (8.1) of the input means (8) by means of the display means (7) and to activate said visually highlighted partial surface section (T, T1, T2) of the tactile sensor surface (8.1) separately in terms of control technology in such a way that, in the case of a compressive force exerted on said activated partial surface section (T, T1, T2) of the tactile sensor surface (8.1), a signal associated in terms of control technology with said partial surface section (T, T1, T2) by the configuration device (9) is generated and fed to an evaluation device (10) of the human-machine interface (6), characterized in that the tactile sensor surface (8.1) of the at least one link (4a) of the robot arm (2) that has the human-machine interface (6) is designed and set up to detect unintentional collisions of the link (4a) with other objects, wherein, however, that partial surface section (T, T1, T2) of the tactile sensor surface (8.1) that is activated to form the input means (8) in such a way that, when said activated partial surface section (T, T1, T2) of the tactile sensor surface (8.1) is touched, a signal assigned in terms of control technology to said partial surface section (T, T1, T2) by the configuration device (9) is generated, is deactivated for detection of an unintentional collision.

2. Robot arm according to Claim 1, characterized in that the configuration device (9) is designed to dynamically illuminate either a first partial surface section (T1) of the tactile sensor surface (8.1) or a second partial surface section (T2) of the tactile sensor surface (8.1) different from the first partial surface section (T1).

3. Robot arm according to Claim 2, characterized in that the configuration device (9) is designed to illuminate the optional first partial surface section (T1) of the tactile sensor surface (8.1) or the optional second partial surface section (T2) of the tactile sensor surface (8.1) with a similar representation, where, when touched, the same signal is generated in terms of control technology in order to activate the same function in both dynamic configurations.

4. Robot arm according to Claim 2 or 3, characterized in that the configuration device (9) is designed to dynamically illuminate either a first partial surface section (T1) of the tactile sensor surface (8.1) or a second partial surface section (T2) of the tactile sensor surface (8.1) different from the first partial surface section (T1) depending on the current joint positions of the robot arm (2).

5. Robot arm according to Claim 4, characterized in that the configuration device (9) is designed to maintain the shape of the visually highlighted partial surface section (T, T1, T2) of the tactile sensor surface (8.1) and, in the event of a change in the current position and / or orientation of that link (4a) of the robot arm (2) that has the human-machine interface (6), to dynamically adapt the visually highlighted partial surface section (T, T1, T2) of the tactile sensor surface (8.1) with regard to its position and / or orientation in such a way that a virtual input means (8) generated by the visual highlighting of the partial surface section (T, T1, T2) of the tactile sensor surface (8.1) maintains its position and / or orientation in space.

6. Robot arm according to any one of Claims 2 to 5, characterized in that the configuration device (9) is designed to dynamically illuminate either a first partial surface section (T1) of the tactile sensor surface (8.1) or a second partial surface section (T2) of the tactile sensor surface (8.1) different from the first partial surface section (T1) depending on the position of a person operating the human-machine interface (6) relative to the robot arm (2).

7. Robot arm according to any one of Claims 1 to 5, characterized in that the tactile sensor surface (8.1) of the at least one link (4a) of the robot arm (2) that has the human-machine interface (6) is designed and set up to detect unintentional collisions of the link (4a) with other objects and, in relation to a collision event, only generates a first signal characterizing the unintentional collision when the collision force exceeds a predetermined compressive force limit value, wherein that partial surface section (T, T1, T2) of the tactile sensor surface (8.1) that is activated to form the input means (8) in such a way that, when said activated partial surface section (T, T1, T2) of the tactile sensor surface (8.1) is touched, a signal assigned in terms of control technology to said partial surface section (T, T1, T2) by the configuration device (9) is generated, a second signal characterizing an input is generated only when the input force is below the predetermined compressive force limit value.

8. Robot arm according to any one of Claims 1 to 7, characterized in that the tactile sensor surface (8.1) of the at least one link (4a) of the robot arm (2) that has the human-machine interface (6) is designed and set up to form a consent switching means, wherein that partial surface section (T, T1, T2) of the tactile sensor surface (8.1) that is activated to form the consent switching means, when said activated partial surface section (T, T1, T2) of the tactile sensor surface (8.1) is touched, generates a consent signal assigned in terms of control technology to said partial surface section (T, T1, T2) by the configuration device (9) only when the input force is below a predetermined maximum compressive force limit value and above a predetermined minimum compressive force limit value.

9. Robot arm according to any one of Claims 1 to 8, characterized in that the visual highlighting of the partial surface section (T, T1, T2) of the tactile sensor surface (8.1) and / or the activation of the visually highlighted partial surface section (T, T1, T2) of the tactile sensor surface (8.1) is designed to be able to be switched off by the configuration device (9).

10. Robot arm according to Claim 9, characterized in that the visual highlighting of the partial surface section (T, T1, T2) of the tactile sensor surface (8.1) and / or the activation of the visually highlighted partial surface section (T, T1, T2) of the tactile sensor surface (8.1) is switched off automatically by the configuration device (9) after a predetermined period of time has elapsed.

11. Robot arm according to any one of Claims 1 to 10, characterized in that the configuration device (9) is programmable with regard to the position, orientation and / or shape of the visually highlighted partial surface section (T, T1, T2) of the tactile sensor surface (8.1) and the respective type of the associated signal that is generated when said partial surface section (T, T1, T2) of the tactile sensor surface (8.1) is touched.

12. Robot arm according to Claim 11, characterized in that the configuration device (9) is designed and set up for its programming by means of a control device separate from the configuration device (9), in particular by means of the robot controller (3) of the robot arm (2) or a portable tablet computer (11).

13. Robot arm according to any one of Claims 1 to 12, characterized in that, in addition to the at least one display means (7) for illuminating a specific partial surface section (T, T1, T2) of the tactile sensor surface (8.1) of the input means (8), the configuration device (9) has at least one further display means (7.2), which is designed only to display other information without a specific partial surface section (T, T1, T2) being associated with the tactile sensor surface (8.1).

14. Robot arm according to any one of Claims 1 to 13, characterised in that the tactile sensor surface (8.1) has a pressure-sensitive skin and / or capacitive proximity sensors.

15. Robot arm according to any one of Claims 1 to 14, characterized in that the display means (7, 7.2) has a flexible LED display.