The relevance of signal timing in human-robot collaborative manipulation
The relevance of signal timing in human-robot collaborative manipulation
复制标题
DOI：
10.1126/scirobotics.abg1308
复制
发表时间：
2021-09-29
期刊：
影响因子：
25
通讯作者：
Controzzi, M.
中科院分区：
文献类型：
--
作者：
Cini, F.;Banfi, T.;Controzzi, M.
为了实现无缝的人机协作，机器人必须在不干扰或中断人类伙伴正在执行的任务的情况下表达自己的意图。虽然到目前为止它还没有得到太多的关注，但当机器人协助人类进行物理和操作任务时，这个问题很重要。这里要解决的主要问题是，是否有一个更合适的时间来通知人类伙伴，机器人正在请求向他们传递一个对象。这个问题是在一个参考场景中提出的，在这个场景中，人类个体参与了一个不能被中断的连续拾取和放置任务。我们的研究结果表明，在伸手抓握动作开始时提供提示可能会严重干扰正在进行的人类动作，增加人类犯错误的数量，减缓和降低手臂运动的流畅性，并转移他们的视线。这些破坏性干扰强烈减少，直到它们消失，当机器人在参与者拿起物体后不久向人类伙伴提供提示时，确定这是最佳信号时机。这项工作的结果表明，信号时序可能对人类-机器人团队合作的表现产生决定性影响，并有助于理解人类认知运动干扰现象的机制。
To achieve a seamless human-robot collaboration, it is crucial that robots express their intentions without perturbating or interrupting the task that a human partner is performing at that moment. Although it has not received much attention so far, this issue is important when robots assist humans in physical and manipulation tasks. The main question addressed here is whether there is a more appropriate time to inform a human partner that a robot is requesting to pass them an object. This question is posed in a reference scenario where human individuals are involved in a continuous pick-and-place task that cannot be interrupted. Our findings showed that providing a cue at the beginning of a reach-to-grasp movement could severely interfere with the ongoing human action, increasing the number of errors made by humans, slowing down and degrading the smoothness of their arm movement, and deflecting their gaze. These disruptive interferences strongly decreased, until they disappeared, when the robot provided the cue to the human partners shortly after the participants picked up an object, identifying this as the best signaling timing. The results of this work showed how the signaling timing may have a decisive influence on the performances of the human-robot teamwork and contribute to understanding the mechanisms underpinning the phenomenon of cognitive-motor interference in humans.