Task-Consistent Signaling Motions for Improved Understanding in Human-Robot Interaction and ...
summary
Paper tests task-consistent robot motions on two Franka Emika Panda cobots with a double within-subject study (N=16, 90 trials per participant, 21 passes near the second robot). Two signals are implemented: postural encoding motion (tilts proportionally to simulated wood resistance) and breathing motion (idle right–left micro-movements). Results show faster completion times with postural encoding, lower applied forces for low/medium resistances but higher for high resistance, unchanged avoidant distance versus active state, and improved SART situation awareness.
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