| 研究実績の概要 |
This year, we focused on the topic to understand how human feels during human-robot collaboration in co-worker scenario and which feature of robot movement determines human comfort.
We designed an empirical human-robot co-worker task, in which human participants move their hand from a start to a goal position repeatedly in the vicinity of a robot that moves its hand back and forth. We also considered four different models of human discomfort, which are related to the proximity from a robot, the velocity of robot motion, the range of robot movement, and the uncertainty of robot movement, respectively.
The experiment was conducted by more than 20 participants. The discomfort experienced by human co-workers was quantified by analyzing their behavioral changes; for example, the participants changed their trajectories to move away from the robot when they felt uncomfortable. In addition, we examined which model of discomfort explains the changes best and showed that the perceived uncertainty in robot movement is a key determinant of human discomfort. Although the results were demonstrated for a simple reaching task, those would be applicable to other co-worker tasks and utilized for robot motion planning.
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