Published in:
at - Automatisierungstechnik, 66 (2018) 6, Seite 483-491
Language:
English
DOI:
10.1515/auto-2018-0004
ISSN:
2196-677X;
0178-2312
Origination:
Footnote:
Description:
Abstract The impact of different trajectory embodiments in terms of velocity profiles on users’ mental stress in close human-robot interaction is investigated. A cooperative assembly scenario is chosen using a standard industrial robot. Conditions are implemented in a repeated measures within-subjects design comparing linear with trapezoidal trajectories. Heart rate variability and galvanic skin conductance are chosen as objective stress markers and evaluated using the average standard deviation of the beat-to-beat intervals (SDNN) and the average skin resistance. Additionally, evaluations of user experience and acceptance are conducted based on evaluated subjective measures. The results of the user study reveal a significant increase of average heart rate variability and average skin resistance in the trapezoidal condition indicating a reduced mental stress level independent of demographical and dispositional factors.