ToolBot: Robotically Reproducing Handicraft

We present ToolBot, a robotic system for creating handi-
craft with hand-held tools. Through using our process users are able to
work with their favorite tools when producing handicraft. We observe
the production process using motion capture. We provide a trajectory
editor, which allows non-robotics-experts to semi-automatically edit the
tool motion. Finally, ToolBot executes the movements using a lightweight
robot arm. This is non-trivial for three reasons. First, the original tool
trajectory might be non-replicable due the robots limited workspace,
collisions, or singularities. Second, the robots maximum velocities and
accelerations can be exceeded. Third, the user might want to let the
robot use a different tool or replicate downscaled tool motion. We re-
solve these issues, such that the hand-held tool can be mounted on a
robot arm, which can then mass-produce the handicraft. We evaluate
the usability of ToolBot through a user study.