Human-Robot Collaboration With a Corrective Shared Controlled Robot in a Sanding Task.

IF 2.9 3区心理学 Q1 BEHAVIORAL SCIENCES Human Factors Pub Date : 2024-08-08 DOI:10.1177/00187208241272066

Anna Konstant, Nitzan Orr, Michael Hagenow, Isabelle Gundrum, Yu Hen Hu, Bilge Mutlu, Michael Zinn, Michael Gleicher, Robert G Radwin

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Abstract

Objective: Physical and cognitive workloads and performance were studied for a corrective shared control (CSC) human-robot collaborative (HRC) sanding task.

Background: Manual sanding is physically demanding. Collaborative robots (cobots) can potentially reduce physical stress, but fully autonomous implementation has been particularly challenging due to skill, task variability, and robot limitations. CSC is an HRC method where the robot operates semi-autonomously while the human provides real-time corrections.

Methods: Twenty laboratory participants removed paint using an orbital sander, both manually and with a CSC robot. A fully automated robot was also tested.

Results: The CSC robot improved subjective discomfort compared to manual sanding in the upper arm by 29.5%, lower arm by 32%, hand by 36.5%, front of the shoulder by 24%, and back of the shoulder by 17.5%. Muscle fatigue measured using EMG, was observed in the medial deltoid and flexor carpi radialis for the manual condition. The composite cognitive workload on the NASA-TLX increased by 14.3% for manual sanding due to high physical demand and effort, while mental demand was 14% greater for the CSC robot. Digital imaging showed that the CSC robot outperformed the automated condition by 7.16% for uniformity, 4.96% for quantity, and 6.06% in total.

Conclusions: In this example, we found that human skills and techniques were integral to sanding and can be successfully incorporated into HRC systems. Humans performed the task using the CSC robot with less fatigue and discomfort.

Applications: The results can influence implementation of future HRC systems in manufacturing environments.

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在打磨任务中与矫正共享控制机器人进行人机协作

目的：研究纠正共享控制（CSC）人机协作（HRC）打磨任务的体力和认知工作量及性能：研究了纠正共享控制（CSC）人机协作（HRC）打磨任务的体力和认知工作量及表现：背景：手工打磨对体力要求很高。协作机器人（cobots）有可能减轻体力压力，但由于技能、任务的可变性和机器人的局限性，完全自主的实施尤其具有挑战性。CSC是一种人机协作方法，机器人半自主运行，人类提供实时修正：方法：20 名实验室参与者使用轨道砂光机清除油漆，既有手动操作，也有 CSC 机器人操作。同时还测试了全自动机器人：结果：与手动打磨相比，CSC 机器人改善了主观不适感，上臂改善了 29.5%，下臂改善了 32%，手部改善了 36.5%，肩部前侧改善了 24%，肩部后侧改善了 17.5%。使用肌电图测量发现，在手动条件下，三角肌内侧和桡侧屈肌出现肌肉疲劳。由于体力需求和努力程度较高，人工打磨时 NASA-TLX 的综合认知工作量增加了 14.3%，而 CSC 机器人的脑力需求则增加了 14%。数字成像显示，CSC 机器人在均匀度方面比自动状态高出 7.16%，在数量方面高出 4.96%，在总成绩方面高出 6.06%：在这个例子中，我们发现人类的技能和技术是打磨工作不可或缺的一部分，并且可以成功地融入 HRC 系统。人类在使用 CSC 机器人执行任务时，疲劳和不适感较少：应用：这些结果可影响未来在制造环境中实施热轧卷系统。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Human Factors 管理科学-行为科学

CiteScore

10.60

自引率

6.10%

发文量

审稿时长

6-12 weeks

期刊介绍： Human Factors: The Journal of the Human Factors and Ergonomics Society publishes peer-reviewed scientific studies in human factors/ergonomics that present theoretical and practical advances concerning the relationship between people and technologies, tools, environments, and systems. Papers published in Human Factors leverage fundamental knowledge of human capabilities and limitations – and the basic understanding of cognitive, physical, behavioral, physiological, social, developmental, affective, and motivational aspects of human performance – to yield design principles; enhance training, selection, and communication; and ultimately improve human-system interfaces and sociotechnical systems that lead to safer and more effective outcomes.