Fig 1.
Working plan and components of the motor task products.
(A) Working plan when a participant works with the YuMi cobot co-worker. (B) Components for manufacturing the products.
Fig 2.
Action coding and distinction between the different types of interactions.
Table 1.
Task performances for the four conditions.
Fig 3.
Distribution of different participants’ actions according to the condition.
COB2s: Collaboration with the cobot and a 2-second ISI. COB5s: Collaboration with the cobot and a 5-second ISI. HUM2s: Collaboration with the human and a 2-second ISI. HUM5s: Collaboration with the human and a 5-second ISI. Idle: When participants are in Idle. Direct activity: When participants are in Direct activity. Indirect activity: When participants are in Indirect activity.
Table 2.
Participant mean Idle and Direct activity times and co-worker mean Idle time.
Table 3.
Times of the types of interactions between the participant and the co-worker (% of a trial).
Fig 4.
Mean RULA scores for the right side.
COB: Collaboration with the cobot. HUM: Collaboration with the human. 2s: Two-second ISI. 5s: Five-second ISI. * significant difference between conditions.
Table 4.
RULA mean scores during the three participants’ actions for the right side.
Fig 5.
RULA mean score for the right side during the three participants’ actions.
Idle: When participants are in Idle. Direct activity: When participants are in Direct activity. Indirect activity: When participants are in Indirect activity. The comparisons are made independently of the condition. * significant difference between conditions.