A Study on Development of Evaluation Scenario for Performance Verification and Validation of Worker-Robot Collaborative Disinfection Service

In human-robot collaboration (HRC), there is a need for an intuitive, easy-to-perceive, and safe human-robot interface. Research into validation and empirical scenarios is necessary to design and evaluate the major interactions between workers and robots, as well as service performance, under HRC. Therefore, this study conducted research on validation and verification (${\mathrm {V}} \& {\mathrm {V}}$) scenario that can evaluate the design and service performance of key interactions between workers and robots. Through existing standards analysis, this study derived major evaluation factors and developed ${\mathrm {V}} \& {\mathrm {V}}$ scenarios by analyzing collaborative scenarios between workers and robots as service blueprints. Based on a V&V evaluation scenario consisting of five major performance evaluation factors, the following results were obtained: (1) Marker recognition driving performance was $98.75 \%$ (±2.7). (2) Threshold passing driving performance was successful in all five instances. (3) Obstacle detection braking performance achieved a success rate of ${1 0 0 \%}$ in all five instances, with an average braking distance of $27.50 \mathrm{~mm}(\pm 14.27)$ and an average braking time of 1.06 seconds (±0.44). (4) Robot emergency stop performance was successful in all five instances. (5) Robot status monitoring performance showed an average success rate of ${8 5 \%}$. This study developed V&V evaluation scenarios based on actual task scenarios and expects that the evaluation methods for these scenarios, developed from service robot operations and scenarios, will enhance the quality of service robots by customizing verification for various performance and functionalities across different service robots and reflecting real-world usage environments.