In human–robot collaborative assembly tasks, it is necessary to properly balance skills to maximize productivity. Human operators can contribute with their abilities in dexterous manipulation, reasoning and problem solving, but a bounded workload (cognitive, physical, and timing) should be assigned for the task. Collaborative robots can provide accurate, quick and precise physical work skills, but they have constrained cognitive interaction capacity and low dexterous ability. In this work, an experimental setup is introduced in the form of a laboratory case study in which the task performance of the human–robot team and the mental workload of the humans are analyzed for an assembly task. We demonstrate that an operator working on a main high-demanding cognitive task can also comply with a secondary task (assembly) mainly developed for a robot asking for some cognitive and dexterous human capacities producing a very low impact on the primary task. In this form, skills are well balanced, and the operator is satisfied with the working conditions.
Assessing worker performance using dynamic cost functions in human robot collaborative tasks
