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Impact of Active vs. Passive Robot Behavior on Task Efficiency in Collaborative Physical HRI

Year: 2025

Type: article

Abstract: Advancements in physical Human-Robot Interaction (pHRI) aim to achieve natural and efficient collaboration between humans and robots, especially in dynamic environments where task performance is essential. This study focuses on co-manipulative human-robot joint activities, exploring key components of performance and synchronization. The primary objective was to design an active control technique for the iCub robot's arms that enhances task efficiency with a distinct approach than traditional force feedback controls. Comparing an iCub's passive behavior with the designed active one has registered an increase in its contribution, given through adaptive velocity and mimicry, and showcasing its ability to respond dynamically to changes in human actions. Furthermore, a measurement of the exertion applied by the counterparts revealed that the active behavior required greater energy consumption to reach those levels of synchronization and performance. These results highlight the implications of balancing active behavior with effort intensity to achieve task efficiency in pHRIs.

Source: IEEE Robotics and Automation Letters

DOI: 10.1109/lra.2025.3609942

Authors: Alessandro Tiozzo, Giulia Scorza Azzarà, Alessandro Rizzo, Alessandra Sciutti, Francesco Rea

Institutions: Politecnico di Torino, University of Genoa, Italian Institute of Technology

Language: English

Topic: Robot Manipulation and Learning

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funder: Istituto Italiano di Tecnologia

OpenAlex ID: W4414198648

FWCI:

Cites: 33

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