Mixed-Reality (MR) Enhanced Human–Robot Collaboration: Communicating Robot Intentions to Humans

Abstract

Advancements in collaborative robotics have significantly enhanced the potential for human–robot collaboration in manufacturing. To achieve efficient and user-friendly collaboration, prior research has predominantly focused on the robot’s perspective, including aspects such as planning, control, and adaptation. A key approach in this domain has been the recognition of human intentions to inform robot actions. However, true collaboration necessitates bidirectional communication, where both human and robot are aware of each other’s intentions. A lack of transparency in robot actions can lead to discomfort, reduced safety, and inefficiencies in the collaborative process. This study investigates the communication of robot intentions to human operators through mixed reality (MR) and evaluates its impact on human–robot collaboration. A laboratory-based physical human–robot assembly framework is developed, integrating multiple MR-based intention communication strategies. Experimental evaluations are conducted to assess the effectiveness of these strategies. The results demonstrate that conveying robot intentions via MR enhances work efficiency, trust, and user comfort in human–robot collaborative manufacturing. Furthermore, a comparative analysis of different MR-based communication designs provides insights into the optimal approaches for improving collaboration quality.