Optimization of the Waiting Time for H-R Coordination

An analytical model of Human-Robot (H-R) coordination is presented for a Human-Robot system executing a collaborative task in which a high level of synchronization among the agents is desired. The influencing parameters and decision variables that affect the waiting time of the collaborating agents were analyzed. The performance of the model was evaluated based on the costs of the waiting times of each of the agents at the pre-defined spatial point of handover. The model was tested for two cases of dynamic H-R coordination scenarios. Results indicate that this analytical model can be used as a tool for designing an H-R system that optimizes the agent waiting time thereby increasing the joint-efficiency of the system and making coordination fluent and natural.

Givers & Receivers perceive handover tasks differently: Implications for Human-Robot collaborative system design

Human-human joint-action in short-cycle repetitive handover tasks was investigated for a bottle handover task using a three-fold approach: work-methods field studies in multiple supermarkets, simulation analysis using an ergonomics software package and by conducting an in-house lab experiment on human-human collaboration by re-creating the environment and conditions of a supermarket. Evaluation included both objective and subjective measures. Subjective evaluation was done taking a psychological perspective and showcases among other things, the differences in the way a common joint-action is being perceived by individual team partners depending upon their role (giver or receiver). The proposed approach can provide a systematic method to analyze similar tasks. Combining the results of all the three analyses, this research gives insight into the science of joint-action for short-cycle repetitive tasks and its implications for human-robot collaborative system design.

Evaluation of Human-Robot Collaboration Models for Fluent Operations in Industrial Tasks

In this study we evaluated human-robot collaboration models in an integrated human-robot operational system. An integrated work cell which includes a robotic arm working collaboratively with a human worker was specially designed for executing a real-time assembly task. Eighty industrial engineering students aged 22-27 participated in experiments in which timing and sensor based models were compared to an adaptive model developed within this framework. Performance measures included total assembly time and total idle time. The results showed conclusively that the adaptive system improved the examined parameters and provided an improvement of 7% in total assembly time and 60% in total idle time when compared to timing and sensory based models.