Effect of Cognitive Fatigue, Operator Sex, and Robot Assistance on Task Performance Metrics, Workload, and Situation Awareness in Human-Robot Collaboration
Effect of Cognitive Fatigue, Operator Sex, and Robot Assistance on Task Performance Metrics, Workload, and Situation Awareness in Human-Robot Collaboration
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DOI：
10.1109/lra.2021.3062787
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发表时间：
2021-04-01
影响因子：
5.2
通讯作者：
Pagilla, Prabhakar R.
中科院分区：
文献类型：
--
作者：
Hopko, S. K.;Khurana, Riya;Pagilla, Prabhakar R.
机器人技术的进步使得人类和机器人在共享空间制造过程中的集成度越来越高。虽然机器人辅助和人类操作员的单独任务性能可以单独优化，但人类和机器人之间的交互可能会对协作性能产生紧急影响。因此，需要考虑机器人辅助自动化程度提高的性能优势及其人为因素的影响。因此，这封信探讨了操作员性别的相互作用，他们的认知疲劳状态，以及不同水平的自动化协作任务的性能，操作员的情况意识和感知的工作量，和生理反应（心率变异性; HRV）。16名参与者，按性别平衡，直接与UR 10协作机器人在不同的疲劳状态和不同程度的机器人协助下进行金属抛光任务。除了持续的生理监测和三个任务性能指标：任务效率，准确性和精度，定期测量感知疲劳，情况意识和工作量。更高的机器人辅助表现出直接的任务性能优势。然而，与女性不同的是，男性并不认为自动化程度越高，性能效益就越好。在HRV信号和主观测量中观察到情况意识和自动化之间的关系，其中增加机器人辅助减少了参与者的注意力供应和任务参与。考虑人的因素之间的相互作用，如操作员的性别和他们的认知状态，和机器人的因素对协作性能可以导致改进的人机协作系统的设计。
Advancements in robot technology are allowing for increasing integration of humans and robots in shared space manufacturing processes. While individual task performance of the robotic assistance and human operator can be separately optimized, the interaction between humans and robots can lead to emergent effects on collaborative performance. Thus, the performance benefits of increased automation in robotic assistance and its impact by human factors need to be considered. As such, this letter examines the interplay of operator sex, their cognitive fatigue states, and varying levels of automation on collaborative task performance, operator situation awareness and perceived workload, and physiological responses (heart rate variability; HRV). Sixteen participants, balanced by sex, performed metal polishing tasks directly with a UR10 collaborative robot under different fatigued states and with varying levels of robotic assistance. Perceived fatigue, situation awareness, and workload were measured periodically, in addition to continuous physiological monitoring and three task performance metrics: task efficiency, accuracy, and precision, were obtained. Higher robotic assistance demonstrated direct task performance benefits. However, unlike females, males did not perceive the performance benefits as better with higher automation. A relationship between situation awareness and automation was observed in both the HRV signals and subjective measures, where increased robot assistance reduced the attentional supply and task engagement of participants. The consideration of the interplay between human factors, such as operator sex and their cognitive states, and robot factors on collaborative performance can lead to improved human-robot collaborative system designs.