论文标题
人参与对人类机器人合作的工作表现和流利性的影响
Effect of Human Involvement on Work Performance and Fluency in Human-Robot Collaboration for Recycling
论文作者
论文摘要
由于可回收产品的组成差异很大，人类机器人协作在回收中具有巨大的潜力。六名参与者执行了可回收的项目排序任务，该任务与配备有视觉系统的机器人臂合作。评估了三种不同水平的人参与或援助对机器人的影响（1-闭塞级别的去除； 2-最佳间距； 3级最佳握把）对机器人准确性，任务时间和主观流利度等性能指标的影响。结果表明，人的参与对机器人的准确性产生了显着影响，这随着人类的参与水平而增加。 1级的平均准确性值为33.3％，第2级的平均准确性值为33.3％，对于3级的平均准确性值为100％。结果暗示，对于涉及大小，形状和组成变化的多种材料的分类过程，人类援助可以在很大程度上提高机器人的准确性，同时又具有成本效益。
Human-robot collaboration has significant potential in recycling due to the wide variation in the composition of recyclable products. Six participants performed a recyclable item sorting task collaborating with a robot arm equipped with a vision system. The effect of three different levels of human involvement or assistance to the robot (Level 1- occlusion removal; Level 2- optimal spacing; Level 3- optimal grip) on performance metrics such as robot accuracy, task time and subjective fluency were assessed. Results showed that human involvement had a remarkable impact on the robot's accuracy, which increased with human involvement level. Mean accuracy values were 33.3% for Level 1, 69% for Level 2 and 100% for Level 3. The results imply that for sorting processes involving diverse materials that vary in size, shape, and composition, human assistance could improve the robot's accuracy to a significant extent while also being cost-effective.
