Haney Justin M, Ammons Douglas, Choi HeeSun
National Institute for Occupational Safety and Health, Morgantown, WV, USA.
Texas Tech University, Lubbock, Texas, USA.
Appl Ergon. 2025 Nov;129:104578. doi: 10.1016/j.apergo.2025.104578. Epub 2025 Jun 18.
The purpose of this experiment was to investigate the effect of robot arm size, movement speed, and degrees of freedom on perceived safety, trust, mental workload, human behaviors, and task performance in a collaborative pick-and-place task. Fifty-six participants completed the experiment in a virtual reality environment where they interacted with a robot manipulator. Robot arm speed had a greater impact on self-reported measures, compared to task performance and human behavior. Overall, mean ratings of surprise and fear significantly increased across speed levels of 60 deg/s (surprise = 1.19/6; fear = 1.18/6), 120 deg/s (surprise = 1.37/6; fear = 1.33/6), and 180 deg/s (surprise = 1.65/6; fear = 1.67/6). Conversely, robot arm size and degrees of freedom had a greater influence on task performance and human behavior than on the self-reported outcomes. These findings may provide insights for robot manufacturers and standard committees to improve perceived safety in the workplace.
本实验的目的是研究在协作式取放任务中，机器人手臂尺寸、移动速度和自由度对感知安全性、信任度、心理负荷、人类行为以及任务绩效的影响。56名参与者在虚拟现实环境中完成了实验，他们在该环境中与机器人操纵器进行交互。与任务绩效和人类行为相比，机器人手臂速度对自我报告的指标影响更大。总体而言，在60度/秒（惊讶度=1.19/6；恐惧度=1.18/6）、120度/秒（惊讶度=1.37/6；恐惧度=1.33/6）和180度/秒（惊讶度=1.65/6；恐惧度=1.67/6）的速度水平下，惊讶和恐惧的平均评分显著增加。相反，机器人手臂尺寸和自由度对任务绩效和人类行为的影响比对自我报告结果的影响更大。这些发现可能为机器人制造商和标准委员会提供见解，以提高工作场所的感知安全性。
