Table 1 pHRI evaluation criteria with relevant description
pHRI criteria | Description of the criteria with respect to power-assisted object manipulation |
|---|---|
Maneuverability (\( M_{a} \)) | Human’s haptic feelings while lifting an object with the PARS, e.g., perceived heaviness, kinesthetic and tactile perceptions, proprioception |
Motion (\( M_{o} \)) | Nature of object’s velocity and acceleration felt by the human, e.g., whether the velocity and acceleration are low or high compared to the expectation of the human user |
Naturalness (\( N_{a} \)) | Normalcy, convenience and likeability perceived by human user and non-complexity in operation while manipulating objects with the PARS |
Stability (\( S_{t} \)) | Presence/absence of oscillations/vibrations, sudden inactivity of the system, etc., during manipulation and their effects on object manipulation, system structure and task environment |
Health and safety (\( H_{s} \)) | Potential fatigue, injuries/accidents, impacts and jerks on human musculoskeletal system, etc. |