Synergistic effects of robot performance on human-robot mutual assistance systems in manufacturing
参考中译:制造业中机器人性能对人-机器人互助系统的协同效应


          

刊名：Advanced Robotics
作者：Shirakura, Naoki（Natl Inst Adv Ind Sci & Technol, Automat Res Team, Tokyo, Japan）
Maruyama, Tsubasa（Natl Inst Adv Ind Sci & Technol, Digital Human Res Team, Tokyo, Japan）
Makihara, Koshi（Natl Inst Adv Ind Sci & Technol, Automat Res Team, Tokyo, Japan & Osaka Univ, Grad Sch Engn Sci, Toyonaka, Osaka, Japan）
Ueshiba, Toshio（Natl Inst Adv Ind Sci & Technol, Automat Res Team, Tokyo, Japan）
Itadera, Shunki（Natl Inst Adv Ind Sci & Technol, Automat Res Team, Tokyo, Japan）
Endo, Yuki（Natl Inst Adv Ind Sci & Technol, Digital Human Res Team, Tokyo, Japan）
Tada, Mitsunori（Natl Inst Adv Ind Sci & Technol, Digital Human Res Team, Tokyo, Japan）
Domae, YukiyasuShirakura, Naoki（Natl Inst Adv Ind Sci & Technol, Automat Res Team, Tokyo, JapanNatl Inst Adv Ind Sci & Technol, Automat Res Team, Tokyo, Japan）
Maruyama, Tsubasa（Natl Inst Adv Ind Sci & Technol, Digital Human Res Team, Tokyo, Japan）
Makihara, Koshi（Natl Inst Adv Ind Sci & Technol, Automat Res Team, Tokyo, Japan & Osaka Univ, Grad Sch Engn Sci, Toyonaka, Osaka, Japan）
Ueshiba, Toshio（Natl Inst Adv Ind Sci & Technol, Automat Res Team, Tokyo, Japan）
Itadera, Shunki（Natl Inst Adv Ind Sci & Technol, Automat Res Team, Tokyo, Japan）
Endo, Yuki（Natl Inst Adv Ind Sci & Technol, Digital Human Res Team, Tokyo, Japan）
Tada, Mitsunori（Natl Inst Adv Ind Sci & Technol, Digital Human Res Team, Tokyo, Japan）
Domae, Yukiyasu（Natl Inst Adv Ind Sci & Technol, Automat Res Team, Tokyo, Japan）
刊号：737C0031
ISSN：0169-1864
出版年：2025
年卷期：2025, vol.39, no.4
页码：208-221
总页数：14
分类号：TP24
关键词：Digital twin；；digital human；；human-robot collaboration；；mutual assistance；；manufacturing production system
参考中译：数字孪生;;数字人;;人机协作;;互助;;制造生产系统
语种：eng
文摘：In countries experiencing a growing shortage of human resources, collaboration with robots is indispensable for leveraging a diverse workforce and maintaining productivity. This study proposes a manufacturing system that simultaneously enhances overall productivity and reduces human workload through mutual assistance between humans and robots. By considering the characteristics of both humans and robots, task allocation was performed to balance the trade-off between productivity and workload. Furthermore, this study introduces a method for improving robot performance to maximize the benefit of mutual assistance. The proposed approach utilizes a digital twin, including humans, for a real-time evaluation of the human workload. Moreover, a novel grasp strategy for a magnetic gripper was proposed to improve the robot's picking success rate, thereby enhancing the effectiveness of the mutual assistance. Through a practical example of supply tasks in a real factory setting, we showcased the mutual assistance between a human worker and a mobile manipulator, confirming the potential of the proposed system. Our analysis of the human workload indicated that improvements in robot performance significantly increased the effectiveness of mutual assistance. The results demonstrated that productivity can be enhanced by up to 19% while simultaneously reducing the human workload by up to 15%.
参考中译：在人力资源日益短缺的国家，与机器人的合作对于利用多元化的劳动力和保持生产力是不可或缺的。这项研究提出了一种制造系统，通过人类和机器人之间的互助，同时提高整体生产力并减少人类工作量。通过考虑人类和机器人的特点，进行任务分配，以平衡生产力和工作量之间的权衡。此外，本研究还介绍了一种提高机器人性能的方法，以最大限度地提高互助的效益。所提出的方法利用包括人类在内的数字双胞胎来实时评估人类工作量。此外，提出了一种新颖的磁性抓手抓取策略，以提高机器人的拾取成功率，从而增强互助的有效性。通过真实工厂环境中供应任务的实际示例，我们展示了人类工人和移动机械手之间的互助，证实了拟议系统的潜力。我们对人类工作量的分析表明，机器人性能的提高显着提高了互助的有效性。结果表明，生产力可以提高高达19%，同时减少高达15%的人力工作量。



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