Worker-Aware Robotic Motion Planner in Construction for Improved Psychological Well- Being during Worker-Robot Interaction

Yizhi Liu, Houtan Jebelli

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Collaborative robots have recently shown the potential to assist workers in performing dexterous and physically demanding construction tasks. However, due to unparalleled diligence, a lack of social intelligence, and a lack of functional perception, a collaborative robot poses problems for the mental and emotional states of workers when interacting with them. These effects can lead to mental health problems, such as depression and anxiety. To ensure the mental well-being of workers during human-robot collaboration (HRC), this study proposes a psychologically stimulated motion planner built into collaborative robots. This capacity to adapt will be based on the robots' recognition of workers' mental states. Through it, first, the cognitive load of workers will be decoded from their brainwave signals via the Multilayer Perceptron Classifier. Second, the decoded results will activate a robotic control mechanism to achieve human-friendly interaction. To examine the safety and feasibility of the robot motion planner, an HRC materials-delivery experiment was designed using a 3D robotic-simulation environment (i.e., Gazebo). The planner allowed robots to assess subjects' cognitive load with an 86.4% accuracy. Once subjects experienced an undesirable cognitive load, the motion planner adjusted the movements of the robots to deliver materials at a safer distance and more comfortable speed. The findings demonstrate the potential of establishing the psych physiologically based HRC solution, opening new avenues to implementing collaborative robots at construction sites.

Original languageEnglish (US)
Title of host publicationConstruction Research Congress 2022
Subtitle of host publicationComputer Applications, Automation, and Data Analytics - Selected Papers from Construction Research Congress 2022
EditorsFarrokh Jazizadeh, Tripp Shealy, Michael J. Garvin
PublisherAmerican Society of Civil Engineers (ASCE)
Pages205-214
Number of pages10
ISBN (Electronic)9780784483961
DOIs
StatePublished - 2022
EventConstruction Research Congress 2022: Computer Applications, Automation, and Data Analytics, CRC 2022 - Arlington, United States
Duration: Mar 9 2022Mar 12 2022

Publication series

NameConstruction Research Congress 2022: Computer Applications, Automation, and Data Analytics - Selected Papers from Construction Research Congress 2022
Volume2-B

Conference

ConferenceConstruction Research Congress 2022: Computer Applications, Automation, and Data Analytics, CRC 2022
Country/TerritoryUnited States
CityArlington
Period3/9/223/12/22

All Science Journal Classification (ASJC) codes

  • Civil and Structural Engineering
  • Building and Construction

Fingerprint

Dive into the research topics of 'Worker-Aware Robotic Motion Planner in Construction for Improved Psychological Well- Being during Worker-Robot Interaction'. Together they form a unique fingerprint.

Cite this