二人の作業者による長尺物の持ち上げ作業における動作リテラシーの解析

抄録

When a human worker lifts a long bar in collaboration with a robot, the necessary functions required for the robot to accomplish the collaboration with the worker is studied. By observing the lifting work performed by two human workers, a leader and a follower, the essential information for the follower to perform the collaboration with the leader is analyzed. From the analyses of the measured bar trajectories when the visual, auditory, and haptic information are given and not given to the follower, it became clear that the leader's call to the follower greatly contributed to work performance. In addition, it was made clear that the timing of the call at the beginning of lifting are very important for the smooth lifting.