Human-Robot Collaboration in a Sanding Task
Robots can help reduce physical stress in manual sanding, but implementation has been challenging due to the skill required, task variability, and robot limitations. In shared control (SC) a robot operates semi-autonomously while the human provides real-time corrections. A laboratory study tested th...
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| Veröffentlicht in: | Proceedings of the Human Factors and Ergonomics Society Annual Meeting 2023-09, Vol.67 (1), p.845-846 |
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| container_title | Proceedings of the Human Factors and Ergonomics Society Annual Meeting |
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| creator | Konstant, Anna Orr, Nitzan Hagenow, Michael Senft, Emmanuel Gundrum, Isabelle Mutlu, Bilge Zinn, Michael Gleicher, Michael Radwin, Robert G. |
| description | Robots can help reduce physical stress in manual sanding, but implementation has been challenging due to the skill required, task variability, and robot limitations. In shared control (SC) a robot operates semi-autonomously while the human provides real-time corrections. A laboratory study tested the effectiveness of SC for removing paint using an orbital sander. A robot autonomously sanded the surface, and twenty participants sanded manually and in collaboration with a robot using SC. Subjective discomfort for manual sanding was greater than SC in the upper arm by 28.5%, the lower arm by 29%, the hand by 38%, and the shoulder by 42%. Muscle fatigue, measured using EMG, was 22.4% greater for the manual condition. Cognitive workload measured using the NASA TLX was 14.25% more for manual sanding. Digital imaging showed that SC outperformed the fully autonomous robot by 10.75% for uniformity, by 4.96% for quantity, and by 6.06% for average performance. |
| doi_str_mv | 10.1177/21695067231193667 |
| format | Article |
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| title | Human-Robot Collaboration in a Sanding Task |
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