IEEE Robotics & Automation Magazine - June 2020 - 173

Table 1. ISO Standard 9241-110:2019, General HRI Principles for System Design.
Suitability for the task

The meaningful use of the robot, which is adequate for the task.

Self-descriptiveness

The robot's mode of operation and its status are constantly given so that the human worker
is aware of the interaction situation at any time.

Controllability

The possibility of the worker to intervene in the process at any time to maintain control
over the robot.

Conformity to user expectations

The robot's functionality is always in accordance with the expectations of the worker and
with the operational processes.

Error tolerance

False user input that can be corrected easily and the possibility for the worker to execute
manual corrections in the task or process.

Suitability for individualization

The possibility of adapting the robot to the workers' needs and abilities.

Learnability

The system includes features that support or simplify learning how to operate the robot.

Standard 9241-110:2019 (see Table 1)
provides general design principles for
system design that should also be considered in terms of HRI: the principle of
suitability for the task refers to a meaningful use of the robot that is appropriate
to the task. Self-descriptiveness specifies
the communication of the robot's mode
of operation and current status so that
the human worker knows at any time
what is happening during the interaction. The controllability principle
describes the possibility of the worker to
intervene in the process at any time and
thus to maintain control over the robot.
Conformity to user expectations means
that the robot's functionality is always in
accordance with the expectations of the
worker and the operational processes.
The principle of error tolerance refers to
two aspects: on the one hand, to false
user input that can be corrected easily
and, on the other hand, to the worker's
potential to execute manual corrections
during the task or process. Suitability
for individualization describes the possibility of adapting the robot to the
needs and abilities of the worker. Finally,
the principle of learnability includes features that support or simplify learning
how to operate the robot.
User acceptance and fundamental
design principles are major aspects that
can be used to evaluate and to describe
the quality of the HRI. There are additional factors that also contribute to the
quality of the individual's HRI experience. In addition to the principle of suitability for the task, special attention
must be paid to the tasks remaining

with the worker when tasks are divided
between humans and robots. Thus,
unfavorable tasks should not be delegated to the worker, and a too-tight coupling to the robotic system should be
avoided. In addition, the process of
introducing a robotic system should be
carefully prepared. A detailed explanation of the purpose and benefits as well
as the operating characteristics are just
as much a part of this as is the worker's
opportunity to address possible concerns related to the system. A reserved
and skeptical worker's attitude is not
unusual and should be addressed in an
early stage.
HRC Standardization:
Ergonomics
Preventing work-related musculoskeletal disorders is possible by implementing ergonomic interventions that can
improve workers' physical conditions in
manual-handling activities such as
heavy load lifting and handling low
loads at high frequency. In the Industry
4.0 era, designing appropriate and effective ergonomic tools means taking into
consideration all of the opportunities
offered by technological innovation,
such as online, instrumental-based
approaches used for biomechanical risk
assessment and the systems adopted for
evaluating the physiological and thermal impacts of the HRC technologies
used. Furthermore, one of the main
challenges in the next few years will be
the revision of existing ergonomic international standards and the development
of new ones.

Online, instrumental-based approaches
make use of wearable miniaturized
sensors for accurate and precise kinematics (joint range of motions), kinetics (forces and torques), and surface
EMG measurement (muscle behaviors) [6], [8], [42]. These tools allow
1) direct instrumental evaluations of
biomechanical risk when traditional
methods are not applicable due to their
equations and parameters restrictions
and 2) the rating of standard methods
when they are applicable. These methods also offer the possibility of classifying the biomechanical risk even in the
presence of work tasks in which HRC
technologies are used. In fact, the traditional methods listed within existing
ergonomic international standards
for manual handling activities (ISO
11228-1:2003; ISO 11228-2:2007; and
ISO 11228-3:2007) do not cover the
consideration of biomechanical
risk detection when collaborative
technologies (e.g., cobots and exoskeletons), in general, are used. This gap,
together with the need to strengthen
the scientific basis upon which the
standards are based [46], represents
the reasons that existing standards
should be supplemented or revised or,
if necessary, that new standards should
be developed. The outcomes of HRCrelated R&D projects have significant
industrial relevance. Generated knowledge should be transferred into related
standardization activities. These standardization activities must have two
main objectives: 1) to disseminate
(at an early stage) knowledge about

JUNE 2020

IEEE ROBOTICS & AUTOMATION MAGAZINE

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IEEE Robotics & Automation Magazine - June 2020

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