Multiple-performance optimization for human-robot collaboration: A translation motion in a tele-sandblasting maintenance system

Abstract

Human-robot collaboration is a vital part of teleoperation systems. Determining the design parameters satisfying the optimal human performance is very important in the design of a teleoperation system for a specific task. Specifically, to thoroughly represent human performance for a task, multiple performance measures in a teleoperation system are evaluated. The experiment was also conducted on a mixed-reality tele-sandblasting system which is setup to study 2D-motion translation in tele-sandblasting task. Then, identifying the design setting to satisfy the optimal measures are difficult due to conflicts among them. Therefore, this paper presents a multipleperformance optimization using a desirability function. The results provide the range of setting condition promoting the optimal human performance measures. © IEOM Society International.