Uniform vs. Lognormal Kinematics in Robots: Perceptual Preferences for Robotic Movements

Collaborative robots or cobots interact with humans in a common work environment. In cobots, one under-investigated but important issue is related to their movement and how it perceived by humans. This paper tries analyze whether prefer robot moving human robotic fashion. To this end, the present lays out what differentiates performed an industrial arm from that one. The main difference lies fact has trapezoidal speed profile, while for arm, profile bell-shaped during complex movements, can be considered as sum of superimposed movements. Based on lognormality principle, procedure was developed perform human-like Both profiles were implemented two robots, namely, ABB IRB 120 Universal Robot UR3. Three tests used study subjects’ preference when seeing both movements another analyzed same interacting touching its ends fingers.