The aim of this research is to develop a framework to allow efficient human robot collaboration on manufacturing assembly tasks based on cost functions that quantify capabilities and performance of each element in a system and enable their efficient evaluation. A proposed cost function format is developed along with initial development of two example cost function variables, completion time and fatigue, obtained as each worker is completing assembly tasks. The cost function format and example variables were tested with two example tasks utilizing an ABB YuMi Robot in addition to a simulated human worker under various levels of fatigue. The total costs produced clearly identified the best worker to complete each task with these costs also clearly indicating when a human worker is fatigued to a greater or lesser degree than expected.

中文翻译：

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在人类机器人协作任务中使用动态成本函数评估工人绩效

本研究的目的是开发一个框架，允许基于成本函数在制造装配任务上进行高效的人类机器人协作，该函数量化系统中每个元素的能力和性能，并使其有效评估。随着每个工人完成装配任务时获得的两个示例成本函数变量（完成时​​间和疲劳）的初步开发，建议的成本函数格式被开发出来。成本函数格式和示例变量通过两个示例任务进行了测试，该任务使用 ABB YuMi 机器人以及处于各种疲劳程度的模拟人类工人。产生的总成本清楚地确定了完成每项任务的最佳工人，这些成本也清楚地表明人类工人疲劳程度比预期更大或更小。