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dc.contributor.authorLasota, Przemyslaw Andrzej
dc.contributor.authorShah, Julie A.
dc.date.accessioned2015-06-26T13:26:08Z
dc.date.available2015-06-26T13:26:08Z
dc.date.issued2015-01
dc.date.submitted2014-06
dc.identifier.issn0018-7208
dc.identifier.issn1547-8181
dc.identifier.urihttp://hdl.handle.net/1721.1/97531
dc.description.abstractObjective: The objective of this work was to examine human response to motion-level robot adaptation to determine its effect on team fluency, human satisfaction, and perceived safety and comfort. Background: The evaluation of human response to adaptive robotic assistants has been limited, particularly in the realm of motion-level adaptation. The lack of true human-in-the-loop evaluation has made it impossible to determine whether such adaptation would lead to efficient and satisfying human–robot interaction. Method: We conducted an experiment in which participants worked with a robot to perform a collaborative task. Participants worked with an adaptive robot incorporating human-aware motion planning and with a baseline robot using shortest-path motions. Team fluency was evaluated through a set of quantitative metrics, and human satisfaction and perceived safety and comfort were evaluated through questionnaires. Results: When working with the adaptive robot, participants completed the task 5.57% faster, with 19.9% more concurrent motion, 2.96% less human idle time, 17.3% less robot idle time, and a 15.1% greater separation distance. Questionnaire responses indicated that participants felt safer and more comfortable when working with an adaptive robot and were more satisfied with it as a teammate than with the standard robot. Conclusion: People respond well to motion-level robot adaptation, and significant benefits can be achieved from its use in terms of both human–robot team fluency and human worker satisfaction. Application: Our conclusion supports the development of technologies that could be used to implement human-aware motion planning in collaborative robots and the use of this technique for close-proximity human–robot collaboration.en_US
dc.language.isoen_US
dc.publisherSage Publicationsen_US
dc.relation.isversionofhttp://dx.doi.org/10.1177/0018720814565188en_US
dc.rightsCreative Commons Attributionen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc/3.0/en_US
dc.sourceSage Publicationsen_US
dc.titleAnalyzing the Effects of Human-Aware Motion Planning on Close-Proximity Human-Robot Collaborationen_US
dc.typeArticleen_US
dc.identifier.citationLasota, P. A., and J. A. Shah. “Analyzing the Effects of Human-Aware Motion Planning on Close-Proximity Human-Robot Collaboration.” Human Factors: The Journal of the Human Factors and Ergonomics Society 57, no. 1 (January 21, 2015): 21–33. © 2015 Human Factors and Ergonomics Societyen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Aeronautics and Astronauticsen_US
dc.contributor.mitauthorLasota, Przemyslaw Andrzejen_US
dc.contributor.mitauthorShah, Julie A.en_US
dc.relation.journalHuman Factors: The Journal of the Human Factors and Ergonomics Societyen_US
dc.eprint.versionFinal published versionen_US
dc.type.urihttp://purl.org/eprint/type/JournalArticleen_US
eprint.statushttp://purl.org/eprint/status/PeerRevieweden_US
dspace.orderedauthorsLasota, P. A.; Shah, J. A.en_US
dc.identifier.orcidhttps://orcid.org/0000-0002-1761-221X
dc.identifier.orcidhttps://orcid.org/0000-0003-1338-8107
mit.licensePUBLISHER_CCen_US
mit.metadata.statusComplete


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