A Template for Digital Human Representation in Digital Twin Simulations of Social Human-Robot Interaction

The virtual validation of a robot's social capability using digital twins requires assessing the perceived quality of human-machine interaction, reflected through various observ-able human parameters that influence the comfort experienced during the interaction. Due to this reason, the detailed digital representation of humans in such simulations is as essential as it is difficult to achieve. This paper introduces a template for digital human representation in a digital twin intended for simulation scenarios of social human-robot interaction. Parameters and properties are grouped into categories for physical behavior, physiological condition (including health), social-cognitive behav-ior, visualization, and sensory capabilities describing a simplified digital representation of a real-world person. The proposed model parameters are chosen based on a literature review of published work regarding digital twin solutions for applications in social robotics with a focus on human digital representation.