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Human-Robot Collaboration With a Corrective Shared Controlled Robot in a Sanding Task.

Anna Konstant1, Nitzan Orr1, Michael Hagenow1

  • 1University of Wisconsin-Madison, USA.

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|August 8, 2024
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Summary
This summary is machine-generated.

Corrective shared control (CSC) human-robot collaboration (HRC) reduces physical discomfort and fatigue during sanding tasks. This HRC method integrates human skills, improving performance over fully automated systems.

Keywords:
corrective shared controldiscomfortfatiguehuman–robot collaborationmanufacturing

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Area of Science:

  • Human-robot interaction
  • Manufacturing technology
  • Ergonomics

Background:

  • Manual sanding presents significant physical demands.
  • Collaborative robots (cobots) offer potential for reducing physical stress in manufacturing.
  • Corrective Shared Control (CSC) enables semi-autonomous robot operation with human real-time input, addressing challenges in fully autonomous systems.

Purpose of the Study:

  • To evaluate physical and cognitive workloads and performance in a corrective shared control (CSC) human-robot collaborative (HRC) sanding task.
  • To compare CSC HRC sanding with manual sanding and fully automated sanding.

Main Methods:

  • Twenty participants performed paint removal using an orbital sander under manual, CSC robot-assisted, and fully automated conditions.
  • Subjective discomfort, muscle fatigue (EMG), and cognitive workload (NASA-TLX) were measured.
  • Sanding performance was assessed using digital imaging for uniformity and quantity.

Main Results:

  • CSC significantly reduced subjective discomfort across multiple body regions compared to manual sanding.
  • Manual sanding led to higher composite cognitive workload, while CSC increased mental demand.
  • EMG data indicated reduced muscle fatigue with the CSC robot.
  • The CSC robot achieved superior sanding uniformity and quantity compared to the fully automated condition.

Conclusions:

  • Human skills are effectively integrated into HRC systems through CSC, enhancing sanding tasks.
  • CSC HRC results in reduced physical fatigue and discomfort for human operators.
  • Findings can inform the design and implementation of future HRC systems in manufacturing.