生物仿真方法设计基于信任的机器人对人类对象交付在协作组装任务中
1Department of Mechanical Engineering, The Pennsylvania State University, 120 Ridge View Drive, Dunmore, PA 18512, USA.
Biomimetics (Basel, Switzerland)
|January 27, 2026
概括
这项研究开发了一种仿生机器人对人类物体交付策略. 它通过在协作组装任务中根据人类信任水平调整机器人的行为来增强人机交互 (HRI) 和安全性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人与机器人的交互
- 生物模拟学是一种生物模拟学.
背景情况:
- 协作组装任务需要人类和机器人之间无的对象交换.
- 人类对机器人的信任在交付过程中显著影响了人类的生物力学和心理.
- 现有的交付机制往往缺乏适应不同信任水平的适应性,影响互动的质量和安全.
研究的目的:
- 为了研究人类信任对人机器人物体交付生物力学和心理学的影响.
- 提出和评估一种新的仿生机器人-人交接机制,以适应人类的信任.
- 在协作组装中增强人机交互 (HRI) 和整体性能.
主要方法:
- 在不同的信任条件下 (高,中等,低) 研究人类心理学和生物力学 (动力学,动力学).
- 开发了一种新的机器人对人类交接策略,使用动力冗余来最大限度地减少冲动力.
- 在混合细胞内的人机协作组装任务中实施和评估拟议的机制.
主要成果:
- 人类信任的下降导致了手动的减慢,手臂角的增加和更高的握力.
- 这种新的机器人交付机制显著改善了HRI指标:透明度,自然性,参与度,合作,认知工作量和人类信任.
- 总体表现在交付安全性,成功率和组装效率方面有所提高.
结论:
- 人类的信任是设计有效的人机器人物体交付的关键因素.
- 拟议的生物仿真交付战略提高了人机协作中的安全性和效率.
- 这种方法在需要人机合作的各种工业和服务领域具有广泛的适用性.
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