Perceived safety in human–cobot interaction for fixed-path and real-time motion planning algorithms

Inara Tusseyeva; Artemiy Oleinikov; Anara Sandygulova; Matteo Rubagotti

doi:10.1038/s41598-022-24622-7

Perceived safety in human–cobot interaction for fixed-path and real-time motion planning algorithms

Inara Tusseyeva, Artemiy Oleinikov, Anara Sandygulova, Matteo Rubagotti

Nazarbayev University

Nazarbayev University

Research output: Contribution to journal › Article › peer-review

9 Citations (Scopus)

Abstract

This study investigates how different motion planning algorithms, implemented on a collaborative robot (cobot), are perceived by 48 human subjects. The four implemented algorithms ensure human safety based on the concept of speed and separation monitoring, but differ based on the following characteristics: (a) the cobot motion happens either along a fixed path or with a trajectory that is continuously planned in real time via nonlinear model predictive control, to increase cobot productivity; (b) the cobot speed is further reduced—or not—in real time based on heart rate measurements, to increase perceived safety. We conclude that (1) using a fixed path—compared to real-time motion planning—may reduce productivity and, at least when heart rate measurements are not used to modify the cobot speed, increases perceived safety; (2) reducing cobot speed based on heart rate measurements reduces productivity but does not improve perceived safety; (3) perceived safety is positively affected by habituation during the experiment, and unaffected by previous experience.

Original language	English
Article number	20438
Journal	Scientific Reports
Volume	12
Issue number	1
DOIs	https://doi.org/10.1038/s41598-022-24622-7
Publication status	Published - Dec 2022

Funding

This work was supported by Nazarbayev University under Collaborative Research Project No. 091019CRP2118. The authors would like to thank Berdakh Abibullaev, Assistant Professor at Nazarbayev University, for many useful discussions. The authors are grateful to Sergey Soltan (previously research assistant at Nazarbayev University and now Ph.D. student at the University of Milan, Italy) for the help in setting up the optical motion tracking system and in interfacing the Empatica E4 wristband.

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10.1038/s41598-022-24622-7

Cite this

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title = "Perceived safety in human–cobot interaction for fixed-path and real-time motion planning algorithms",

abstract = "This study investigates how different motion planning algorithms, implemented on a collaborative robot (cobot), are perceived by 48 human subjects. The four implemented algorithms ensure human safety based on the concept of speed and separation monitoring, but differ based on the following characteristics: (a) the cobot motion happens either along a fixed path or with a trajectory that is continuously planned in real time via nonlinear model predictive control, to increase cobot productivity; (b) the cobot speed is further reduced—or not—in real time based on heart rate measurements, to increase perceived safety. We conclude that (1) using a fixed path—compared to real-time motion planning—may reduce productivity and, at least when heart rate measurements are not used to modify the cobot speed, increases perceived safety; (2) reducing cobot speed based on heart rate measurements reduces productivity but does not improve perceived safety; (3) perceived safety is positively affected by habituation during the experiment, and unaffected by previous experience.",

author = "Inara Tusseyeva and Artemiy Oleinikov and Anara Sandygulova and Matteo Rubagotti",

note = "Funding Information: This work was supported by Nazarbayev University under Collaborative Research Project No. 091019CRP2118. The authors would like to thank Berdakh Abibullaev, Assistant Professor at Nazarbayev University, for many useful discussions. The authors are grateful to Sergey Soltan (previously research assistant at Nazarbayev University and now Ph.D. student at the University of Milan, Italy) for the help in setting up the optical motion tracking system and in interfacing the Empatica E4 wristband. Publisher Copyright: {\textcopyright} 2022, The Author(s).",

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N1 - Funding Information: This work was supported by Nazarbayev University under Collaborative Research Project No. 091019CRP2118. The authors would like to thank Berdakh Abibullaev, Assistant Professor at Nazarbayev University, for many useful discussions. The authors are grateful to Sergey Soltan (previously research assistant at Nazarbayev University and now Ph.D. student at the University of Milan, Italy) for the help in setting up the optical motion tracking system and in interfacing the Empatica E4 wristband. Publisher Copyright: © 2022, The Author(s).

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N2 - This study investigates how different motion planning algorithms, implemented on a collaborative robot (cobot), are perceived by 48 human subjects. The four implemented algorithms ensure human safety based on the concept of speed and separation monitoring, but differ based on the following characteristics: (a) the cobot motion happens either along a fixed path or with a trajectory that is continuously planned in real time via nonlinear model predictive control, to increase cobot productivity; (b) the cobot speed is further reduced—or not—in real time based on heart rate measurements, to increase perceived safety. We conclude that (1) using a fixed path—compared to real-time motion planning—may reduce productivity and, at least when heart rate measurements are not used to modify the cobot speed, increases perceived safety; (2) reducing cobot speed based on heart rate measurements reduces productivity but does not improve perceived safety; (3) perceived safety is positively affected by habituation during the experiment, and unaffected by previous experience.

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Perceived safety in human–cobot interaction for fixed-path and real-time motion planning algorithms

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