Acceptability of robotic manipulators in shared working environments through human-like redundancy resolution

Area of Science:

• Robotics
• Human-Robot Interaction
• Cognitive Science

Background:

• Next-generation robotic manipulators aim for human-like kinematic behavior for dexterity in tasks like small-piece assembly.
• These robots are designed to operate in shared human environments without physical barriers, necessitating social acceptance.

Purpose of the Study:

• To investigate if robots moving and acting like humans can improve social acceptance.
• To assess the physiological comfort and discomfort experienced by humans working alongside robots with different motion strategies.

Main Methods:

• Implemented a human-like kinematic redundancy resolution strategy for robots.
• Compared this strategy against two alternative redundancy resolution methods.
• Conducted an experimental campaign to measure human physiological comfort/discomfort during human-robot collaboration.

Main Results:

• The analysis confirmed that a human-like motion strategy significantly facilitates social acceptance.
• Robots exhibiting human-like movement reduced perceived stress in human participants.
• This suggests that kinematic similarity directly impacts human comfort in shared workspaces.

Conclusions:

• Human-like robot motion is a key factor in enhancing social acceptance in human-robot coexistence.
• Exploiting kinematic redundancy to achieve human-like movement can mitigate human stress and improve collaboration.
• Future robotic systems should prioritize human-like behavior for seamless integration into human environments.