PRO-MIND: Proximity and Reactivity Optimisation of robot Motion to tune safety limits, human stress, and productivity in INDustrial settings

TL;DR

PRO-MIND is a human-in-the-loop framework that optimizes robot trajectories in industrial settings by considering human attention, stress, and safety to improve comfort, safety, and productivity.

Contribution

It introduces a novel adaptive method that dynamically adjusts robot motion based on real-time human psycho-physical data and multi-objective optimization.

Findings

Reduces operator workload and stress in case studies.

Enhances safety and productivity through adaptive trajectory planning.

Maintains motion smoothness and predictability for better human comfort.

Abstract

Despite impressive advancements of industrial collaborative robots, their potential remains largely untapped due to the difficulty in balancing human safety and comfort with fast production constraints. To help address this challenge, we present PRO-MIND, a novel human-in-the-loop framework that leverages valuable data about the human co-worker to optimise robot trajectories. By estimating human attention and mental effort, our method dynamically adjusts safety zones and enables on-the-fly alterations of the robot path to enhance human comfort and optimal stopping conditions. Moreover, we formulate a multi-objective optimisation to adapt the robot's trajectory execution time and smoothness based on the current human psycho-physical stress, estimated from heart rate variability and frantic movements. These adaptations exploit the properties of B-spline curves to preserve continuity and smoothness, which are crucial factors in improving motion predictability and comfort. Evaluation in two realistic case studies showcases the framework's ability to restrain the operators' workload and stress and to ensure their safety while enhancing human-robot productivity. Further strengths of PRO-MIND include its adaptability to each individual's specific needs and sensitivity to variations in attention, mental effort, and stress during task execution.