Reduction of Heart Rate by Robot Trajectory Profiles in Cooperative HRI

Konferenz: ISR 2016 - 47st International Symposium on Robotics
21.06.2016 - 22.06.2016 in München, Germany

Tagungsband: ISR 2016

Seiten: 6Sprache: EnglischTyp: PDF

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Kuehnlenz, Barbara; Kuehnlenz, Kolja (Coburg University of Applied Sciences and Arts, Friedrich-Streib-Str. 2, 96450 Coburg, Germany)

In the context of workplace health promotion, this paper investigates the impact of various industrial robot trajectory profiles on physiological responses as well as subjective performance in a user study with a cooperative human-robot interaction task. It is found, that minimum-jerk trajectories are superior to conventional or even avoidance behavior trajectories in terms of a significantly reduced heart rate. The effect is independent of the initial arousal state of the test subjects and no interactions with gender or previous experience are found. Interestingly, subjective performance is rated inversely by the human users. The findings suggest integration of minimum-jerk optimization, whenever the interaction scenario allows, in order to reduce emotional stress with minimum effort in trajectory design.