This study investigates human-robot collaborative (HRC) disassembly tasks, focusing on the effects of constrained and unconstrained safety distances on human behavior and movement interference. Separate and shared target configurations were compared using a screw-picking task as a prototype for electronic waste (e-waste) disassembly. The system employ a vision-based approach to track screws, the human hand, and the robot end effector. Performance was evaluated using objective metrics, including completion time, warning distance, and movement heatmaps, as well as subjective workload assessed via NASA-TLX. Results show that the safety algorithm significantly improved movement efficiency by minimizing the spatial distribution compared to the unconstrained trials. Furthermore, significant results from the factorial design showed that separate-target task enhanced human awareness, enabling participants to anticipate warning distances more effectively than the shared-target task. Synchronizing task assignments with safety algorithms reduces the need for human intervention.
Kurniawan et al. (Thu,) studied this question.
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