Methods for Expressing Robot Intent for Human–Robot Collaboration in Shared Workspaces

Abstract

Human–robot collaboration is becoming increasingly common in factories around the world; accordingly, we need to improve the interaction experiences between humans and robots working in these spaces. In this article, we report on a user study that investigated methods for providing information to a person about a robot’s intent to move when working together in a shared workspace through signals provided by the robot. In this case, the workspace was the surface of a tabletop. Our study tested the effectiveness of three motion-based and three light-based intent signals as well as the overall level of comfort participants felt while working with the robot to sort colored blocks on the tabletop. Although not significant, our findings suggest that the light signal located closest to the workspace—an LED bracelet located closest to the robot’s end effector—was the most noticeable and least confusing to participants. These findings can be leveraged to support human–robot collaborations in shared spaces.