Analyzing the effects of human-aware motion planning on close-proximity human-robot collaboration.
Analyzing the effects of human-aware motion planning on close-proximity human-robot collaboration.
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DOI：
10.1177/0018720814565188
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发表时间：
2015-02
期刊：
影响因子：
3.3
通讯作者：
Shah JA
中科院分区：
文献类型：
--
作者：
Lasota PA;Shah JA
这项工作的目的是检查人类对运动级机器人适应的反应，以确定其对团队流畅性、人类满意度以及感知安全性和舒适性的影响。对人类对自适应机器人助手的反应的评估是有限的，特别是在运动水平适应领域。由于缺乏真正的人机交互评估，因此无法确定这种适应是否会带来高效且令人满意的人机交互。我们进行了一项实验，参与者与机器人一起执行协作任务。参与者使用结合了人类感知运动规划的自适应机器人和使用最短路径运动的基线机器人。通过一组定量指标评估团队的流畅性，并通过问卷调查评估人员满意度以及感知的安全性和舒适度。使用自适应机器人时，参与者完成任务的速度提高了 5.57%，并发运动增加了 19.9%，人类空闲时间减少了 2.96%，机器人空闲时间减少了 17.3%，间隔距离增加了 15.1%。问卷调查表明，与标准机器人相比，参与者在与自适应机器人一起工作时感到更安全、更舒适，并且对它作为队友的满意度更高。人们对运动级机器人适应反应良好，并且在人机团队的流畅性和人类工人的满意度方面可以从其使用中获得显着的好处。我们的结论支持开发可用于在协作机器人中实现人类感知运动规划的技术，以及使用该技术进行近距离人机协作。
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. 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. 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. 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. 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. 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.
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