2019 Fiscal Year Annual Research Report
次世代協働ロボット：行動神経学に基づく「安心できる」ロボットの動きの解明
| Project/Area Number |
17H01804
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| Research Institution | National Institute of Advanced Industrial Science and Technology |
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Principal Investigator |
山野辺 夏樹 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 主任研究員 (90455436)
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| Co-Investigator(Kenkyū-buntansha) |
GOWRISHANK AR.G 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 客員研究員 (10570244)
吉田 英一 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 副研究センター長 (30358329)
Venture Gentiane 国立研究開発法人産業技術総合研究所, 情報・人間工学領域, 特定フェロー (30538278)
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| Project Period (FY) |
2017-04-01 – 2020-03-31
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| Keywords | 協働ロボット / 行動神経学 / 動作計画 |
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| Outline of Annual Research Achievements |
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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| Research Progress Status |
令和元年度が最終年度であるため、記入しない。
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| Strategy for Future Research Activity |
令和元年度が最終年度であるため、記入しない。
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