考虑协作机器人运动的操作者心理安全场模型的试验研究

doi:10.3901/JME.2022.18.265

机械工程学报 ›› 2022, Vol. 58 ›› Issue (18): 265-278.doi: 10.3901/JME.2022.18.265

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考虑协作机器人运动的操作者心理安全场模型的试验研究

刘波¹, 王雯¹, 傅卫平^1,2, 王毅¹, 彭丽霞^1,2, 李睿¹

1. 西安理工大学机械与精密仪器工程学院西安 710048;
2. 西安外事学院工学院西安 710077

收稿日期:2022-04-20 修回日期:2022-07-30 出版日期:2022-09-20 发布日期:2022-12-08
通讯作者: 傅卫平(通信作者)，男，1957年出生，博士，教授，博士研究生导师。主要研究方向为智能机器人、智能车辆及其控制理论与技术方向。E-mail：weipingf@xaut.edu.cn
作者简介:刘波,男,1987年出生,博士研究生。主要研究方向为人机协作;E-mail:1180211007@stu.xaut.edu.cn
基金资助:
国家社科基金(18BG132)和陕西省自然科学基础研究计划(2022JQ-402)资助项目。

Experimental Study on Operator's Psychological Safety Field Model Considering Cobot Motion

LIU Bo¹, WANG Wen¹, FU Weiping^1,2, WANG Yi¹, PENG Lixia^1,2, LI Rui¹

1. School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an 710048;
2. School of Engineering, Xi'an International University, Xi'an 710077

Received:2022-04-20 Revised:2022-07-30 Online:2022-09-20 Published:2022-12-08

摘要/Abstract

摘要： 协作机器人的动作方式是保证工人工作效率、提高对机器人信任度和降低心理压力情绪的最重要基础，由于现有的研究没有对于相关规律形成数学模型，导致传统的机器人动作造成工人心理压力增大，无法实现安全、高效、自然的人机协作。在现有的研究基础上，利用皮电设备采集受试者的皮肤电导值，对机器人以不同的速度、最小间距和方向接近受试者时产生的心理压力情绪规律进行了研究。通过试验发现，在受试者可以清楚观察到机器人运动的情况下，随着速度的增加、间距的减小，人体产生的皮电信号逐渐增大，而接近方向的改变没有明显的皮电信号变化。通过对速度、最小间距单因素试验皮电均值进行曲线拟合，得到机器人运动对受试者心理压力情绪的经验公式，并依此建立操作者心理安全场模型。由此模型可以为协作机器人的安全、高效、自然的运动规划提供理论支撑。

关键词: 人机协同, 机器人运动, 心理压力, 心理安全场

Abstract: The motion mode of collaborative robots(cobots) is essential for ensuring workers' efficiency, improving trust in cobots, and reducing psychological stress. Since the existing researches do not form mathematical models for the relevant laws, it increases workers' psychological stress caused by the traditional cobot motion, which cannot realize safe, efficient, and natural human-robot collaboration(HRC). Based on existing research, the subjects' skin conductivity response(SRC) was collected using Electrodermal activity(EDA) equipment, and the laws of psychological stress generated when the robot approached the subjects at different speeds, minimum distances, and directions were investigated. It was found that the human body produced gradually increasing EDA signals as the speed increased and the distance decreased, while there was no significant change in EDA signals with the change of approach direction when the subject could observe the cobot motion. The empirical equation for the psychological stress of cobot motion on the subject was obtained by curve fitting the mean values of the EDA signals of the speed and minimum distance single-factor tests, and the operator psychological safety field model was established accordingly. The proposed model can provide theoretical support for cobots' safe, efficient, and natural motion planning.

Key words: HRC, cobot motion, psychological stress, psychological safety field

中图分类号:

TG156

刘波, 王雯, 傅卫平, 王毅, 彭丽霞, 李睿. 考虑协作机器人运动的操作者心理安全场模型的试验研究[J]. 机械工程学报, 2022, 58(18): 265-278.

LIU Bo, WANG Wen, FU Weiping, WANG Yi, PENG Lixia, LI Rui. Experimental Study on Operator's Psychological Safety Field Model Considering Cobot Motion[J]. Journal of Mechanical Engineering, 2022, 58(18): 265-278.

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考虑协作机器人运动的操作者心理安全场模型的试验研究

Experimental Study on Operator's Psychological Safety Field Model Considering Cobot Motion

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