Evaluating the Effect of Speed and Acceleration on Human Factors during an Assembly Task in Human–Robot Interaction (HRI)

Abstract In the new industrial contexts, the workers’ well-being is the central pillar. Therefore, research on methods and technics to improve the workers’ user experience in a human–robot collaborative environment is necessary. While the effects of kinematic variables, such as speed and acceleration, on human safety have been extensively studied, their impact on human perception has not been fully explored. This study investigates the effects of the robot’s speed and acceleration on humans. An experimental research approach was used, where 20 participants (10 women and 10 men) performed an assembly task collaborating with a robot. An experiment was defined with two procedures, and the participants were evenly distributed: in the first experiment, the participants started by performing the task at a slow robot speed and then performed the same task at a faster speed. In the second experiment, the other half followed the opposite procedure. Key Performance Indicators (KPIs), physiological values (via EEG and EDA), and perceptual values (using the standardised UEQ-S questionnaire) were collected. The results showed that the robot’s speed and acceleration impact the task’s completion time and participants’ emotional responses. Our results lead to a new concept, “HRI speed bell”, which indicates that it is necessary to investigate the optimal speed and acceleration to ensure good trust and perceived safety. Furthermore, the task sequence also influences participants’ expectations and performance. Finally, the results are examined according to gender perspective.