Human behaviors and Human-Robot Interaction with a cobot in a collaborative task.
Résumé
Industry 4.0 can be defined as more digital, greener, more economical and more flexible. Cobots, or collaborative robots, which are one of the key technologies of the new Industry [1], allow a collaborative work with humans, to interact, physically or not, in a shared workplace [2]. The introduction of cobots in the factory changes the relationships between operators and their task, as their performance, health (besides risk of traumas, musculoskeletal disorders can occur or migrate due to the adaptation of the cobot [3]) and safety.
The aim of this work is to analyze the features of the human performance with the introduction of the cobot in a collaborative work situation. To do this, we conducted a multimodal study that compares the behavior of a human with another human or with a cobot. The collaborative task is to put together several components in order to constitute a series of semi-finished products. We hypothesize that the presence of the cobot shifts the participant’s motor (posture and gesture) and oculomotor (gaze areas) behaviors.
A student population of forty people, from 18 to 40 years old participate the experiment. Participants manufacture a maximum of products in four minutes in collaboration either with a YuMi cobot (ABB Group, Zurich, Switzerland) either with another person. The YuMi cobot and the other person have the same subtasks in order to manufacture the product. Simultaneously participants perform a cognitive task with two levels of difficulty [4]. They are equipped with seventeen wireless inertial motor sensors (Xsens), which allow data of joint angles, position, speed and acceleration of the participants’ body segment, so to study the biomechanical behavior. Biomechanical data will be analyzed including with RULA scores. They are also equipped with an eye-tracker (Tobii Glasses) to record the gaze position and pupils’ dilatations. These data will be analyzed with some AOIs (e.g., interaction zone, cobot). The sessions are recorded and then analyzed with the Captiv software in order to study the activity and inactivity time of the cobot and the human.
Currently, the experiments are ongoing (thirty participants have already passed), and will carry on until July 16th. Preliminary results appear to show that number of products manufactured is more important facing a human rather a cobot. Moreover, the cognitive task is outperformed with the easier level of difficulty. Results about motor and oculomotor behaviors will be presented during the workshop.
The introduction of the cobot modifies the relationship between the operator and his task. With this study, we hope to gather information in order to characterize the new relationship, term to help to evaluate an interaction situation, especially anticipating risks for the operator.
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