Investigating the Influence of a Cobot's Average Tool Center Point Speed on Human Work Behavior in a Cooperative Human-Robot Collaboration Assembly Station

Abstract

Industry 5.0, an extension of the Industry 4.0 paradigm, points out the need for human-centered solutions in cyber-physical manufacturing technologies, including context-aware cobots that can self-adapt to human needs. Whereas humans are flexible and able to work autonomously, cobots rely on static controls equipping them with motion precision and repeatability to support their human counterparts. However, changing circumstances require the cobot to adapt autonomously to changes, including human working behavior, which depends on the psychological perception of cobots. Understanding the influence bears the potential to improve autonomous decision-making for self-adaptation regarding the cobot's TCP speed. This paper investigates quantitatively and qualitatively the influence of a cobot's motion speed on the Task Time and Human-Active Time in a cooperative assembly station. Concludingly, the TCP speed was found to challenge the operator and change the perception of teamwork.