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Simulation of a Scaled Assembly Process with Collaboration of a Robotic Arm and Monitoring through a Vision System for Quality Control

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Human-robot collaboration for e-waste disassembly: task modeling, allocation, and ergonomic assessment.

Yuhao Chen¹, Hao-Yu Liao², Yue Luo^1,3

¹Department of Industrial and Systems Engineering, University of Florida, Gainesville, FL, USA.

|March 28, 2026

Summary

This study introduces a framework for human-robot collaboration in electronic waste (e-waste) disassembly, using cobots to reduce worker risks. The results show cobots significantly decrease workload and ergonomic hazards during e-waste recycling.

Keywords:

E-waste disassembly ergonomics evaluation human-robot collaboration task allocation task modelling

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Area of Science:

Engineering
Environmental Science
Robotics

Background:

Electronic waste (e-waste) is the fastest-growing waste stream, presenting environmental and health risks.
Current e-waste disassembly relies heavily on manual labor, leading to significant occupational hazards.
Industry 5.0 principles emphasize human-robot collaboration for sustainable practices.

Purpose of the Study:

To propose a framework for implementing human-robot collaboration in e-waste disassembly.
To enhance sustainability and worker safety in the recycling process.
To evaluate the ergonomic impact of cobots in e-waste dismantling.

Main Methods:

Developed a three-step framework: task modelling, task allocation/scheduling, and ergonomics evaluation.
Utilized Hierarchical Task Analysis (HTA) for task modelling.
Employed an optimization-based method for task allocation, considering cost, safety, and complexity.
Conducted an ergonomics evaluation with 22 participants during desktop computer disassembly.

Main Results:

The proposed framework successfully integrated collaborative robots (cobots) into e-waste disassembly.
Task allocation optimization balanced disassembly cost, operator safety, and task complexity.
Ergonomic evaluation demonstrated a significant reduction in human workload and risks when using cobots.

Conclusions:

Human-robot collaboration, specifically with cobots, offers a viable solution to mitigate occupational hazards in e-waste disassembly.
The framework provides a structured approach for implementing cobots in sustainable e-waste recycling.
Cobots can enhance both the efficiency and safety of e-waste processing, aligning with Industry 5.0 goals.