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Analyzing the Effects of Human-Aware Motion Planning on Close-Proximity Human–Robot Collaboration

Lasota, Przemyslaw A. ; Shah, Julie A. Marras, William S

Human factors, 2015-02, Vol.57 (1), p.21-33 [Periódico revisado por pares]

Los Angeles, CA: SAGE Publications

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  • Título:
    Analyzing the Effects of Human-Aware Motion Planning on Close-Proximity Human–Robot Collaboration
  • Autor: Lasota, Przemyslaw A. ; Shah, Julie A.
  • Marras, William S
  • Assuntos: Adaptation ; Adult ; Collaboration ; Comfort ; Cooperative Behavior ; Ergonomics - instrumentation ; Ergonomics - methods ; Female ; Human ; Human factors research ; Human response ; Human-computer interaction ; Humans ; Male ; Man-Machine Systems ; Motion ; Motion planning ; Prize Finalists ; Robotics ; Robotics - instrumentation ; Robots ; Safety ; Space life sciences ; Surveys ; Task Performance and Analysis ; Tasks ; Young Adult
  • É parte de: Human factors, 2015-02, Vol.57 (1), p.21-33
  • Notas: ObjectType-Article-1
    SourceType-Scholarly Journals-1
    ObjectType-Feature-2
    content type line 23
  • Descrição: Objective: The objective of this work was to examine human response to motion-level robot adaptation to determine its effect on team fluency, human satisfaction, and perceived safety and comfort. Background: The evaluation of human response to adaptive robotic assistants has been limited, particularly in the realm of motion-level adaptation. The lack of true human-in-the-loop evaluation has made it impossible to determine whether such adaptation would lead to efficient and satisfying human–robot interaction. Method: We conducted an experiment in which participants worked with a robot to perform a collaborative task. Participants worked with an adaptive robot incorporating human-aware motion planning and with a baseline robot using shortest-path motions. Team fluency was evaluated through a set of quantitative metrics, and human satisfaction and perceived safety and comfort were evaluated through questionnaires. Results: When working with the adaptive robot, participants completed the task 5.57% faster, with 19.9% more concurrent motion, 2.96% less human idle time, 17.3% less robot idle time, and a 15.1% greater separation distance. Questionnaire responses indicated that participants felt safer and more comfortable when working with an adaptive robot and were more satisfied with it as a teammate than with the standard robot. Conclusion: People respond well to motion-level robot adaptation, and significant benefits can be achieved from its use in terms of both human–robot team fluency and human worker satisfaction. Application: Our conclusion supports the development of technologies that could be used to implement human-aware motion planning in collaborative robots and the use of this technique for close-proximity human–robot collaboration.
  • Editor: Los Angeles, CA: SAGE Publications
  • Idioma: Inglês
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