Difficulty and complexity definitions for assembly task allocation and assignment in human–robot collaborations: A review

Kiyokawa, Takuya; Shirakura, Naoki; Wang, Zhenting; Yamanobe, Natsuki; Ramirez-Alpizar, Ixchel G.; Wan, Weiwei; Harada, Kensuke

doi:https://doi.org/10.1016/j.rcim.2023.102598

Difficulty and complexity definitions for assembly task allocation and assignment in human–robot collaborations: A review

Kiyokawa, Takuya; Shirakura, Naoki; Wang, Zhenting et al.

Robotics and Computer-Integrated Manufacturing, 2023, 84, 102598

アクセス数:685件（2025-07-20 18:57 集計）

固定URL: https://hdl.handle.net/11094/92340

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タイトル	Difficulty and complexity definitions for assembly task allocation and assignment in human–robot collaborations: A review
著者	NRID 1000030909403 1000030909403 ORCID 0000-0002-8555-8489 0000-0002-8555-8489 researchmap permalink takuya-ki takuya-ki Scopus Author ID 57207579369 57207579369 著者名 Kiyokawa, Takuya
	著者名 Shirakura, Naoki
	著者名 Wang, Zhenting
	NRID 1000090455436 1000090455436 著者名 Yamanobe, Natsuki
	著者名 Ramirez-Alpizar, Ixchel G.
	NRID 1000020760002 1000020760002 ORCID 0000-0002-0058-2819 0000-0002-0058-2819 researchmap permalink weiweiwan weiweiwan Scopus Author ID 56238867200 56238867200 著者名 Wan, Weiwei
	NRID 1000050294533 1000050294533 ORCID 0000-0002-7576-756X 0000-0002-7576-756X researchmap permalink kharada kharada Scopus Author ID 35446109900 35446109900 著者名 Harada, Kensuke
キーワード等	Assembly
	Complexity
	Difficulty
	Human–robot collaboration
	Task allocation
	Task assignment
内容	Kiyokawa T., Shirakura N., Wang Z., et al. Difficulty and complexity definitions for assembly task allocation and assignment in human–robot collaborations: A review. Robotics and Computer-Integrated Manufacturing 84, 102598 (2023); https://doi.org/10.1016/j.rcim.2023.102598.
抄録	This paper presents a literature review on the different aspects of task allocation and assignment problems in human–robot collaboration (HRC) tasks in industrial assembly environments. In future advanced industrial environments, robots and humans are expected to share the same workspace and collaborate to efficiently achieve shared goals. Difficulty- and complexity-aware HRC assembly is necessary for human-centric manufacturing, which is a goal of Industry 5.0. Therefore, the objective of this study is to clarify the definitions of difficulty and complexity used to encourage effective collaboration between humans and robots to leverage the adaptability of humans and the autonomy of robots. To achieve this goal, a systematic review of the following relevant databases for computer science was performed: IEEE Xplore, ScienceDirect, SpringerLink, ACM Digital Library, and ASME Digital Collection. The results extracted from 74 peer-reviewed research articles published until July 2022 were summarized and categorized into four taxonomies for 145 difficulty and complexity definitions from the perspectives of (1) definition-use objectives, (2) evaluation objectives, (3) evaluation factors, and (4) evaluation variables. Next, existing definitions were primarily classified according to the following two criteria to identify potential future studies on the formulation of new definitions for human-centric manufacturing: (1) agent specificity and (2) common aspects in manual and robotic assemblies.
出版者	Elsevier Ltd
収録物名	Robotics and Computer-Integrated Manufacturing
巻(号)	84
ページ	102598
刊行年月	2023-06-07
言語	英語
ハンドルURL	https://hdl.handle.net/11094/92340
PISSN	07365845
NCID	AA10481534
関連情報 (isVersionOf)	DOI (出版社版) https://doi.org/10.1016/j.rcim.2023.102598
アクセス権	open access
権利情報	© 2023. This manuscript version is made available under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
出版タイプ	Accepted Manuscript
カテゴリ	学術雑誌論文 Journal Article

資源タイプ	学術雑誌論文
ローカル資源タイプ	学術雑誌論文
DCMI資源タイプ	text
DCTERMS.bibliographicCitation	Robotics and Computer-Integrated Manufacturing. 2023, 84, p. 102598
DC.title	Difficulty and complexity definitions for assembly task allocation and assignment in human–robot collaborations: A review
DC.creator	Kiyokawa, Takuya
	Shirakura, Naoki
	Wang, Zhenting
	Yamanobe, Natsuki
	Ramirez-Alpizar, Ixchel G.
	Wan, Weiwei
	Harada, Kensuke
DC.publisher	Elsevier Ltd
DC.language' scheme='DCTERMS.RFC1766	英語
DC.type' scheme='DCTERMS.DCMIType	text
DCTERMS.issued' scheme='DCTERMS.W3CDTF	2023-06-07
DC.identifier	https://doi.org/10.1016/j.rcim.2023.102598
DC.subject	Assembly
	Complexity
	Difficulty
	Human–robot collaboration
	Task allocation
	Task assignment
DC.description	Kiyokawa T., Shirakura N., Wang Z., et al. Difficulty and complexity definitions for assembly task allocation and assignment in human–robot collaborations: A review. Robotics and Computer-Integrated Manufacturing 84, 102598 (2023); https://doi.org/10.1016/j.rcim.2023.102598.
DCTERMS.abstract	This paper presents a literature review on the different aspects of task allocation and assignment problems in human–robot collaboration (HRC) tasks in industrial assembly environments. In future advanced industrial environments, robots and humans are expected to share the same workspace and collaborate to efficiently achieve shared goals. Difficulty- and complexity-aware HRC assembly is necessary for human-centric manufacturing, which is a goal of Industry 5.0. Therefore, the objective of this study is to clarify the definitions of difficulty and complexity used to encourage effective collaboration between humans and robots to leverage the adaptability of humans and the autonomy of robots. To achieve this goal, a systematic review of the following relevant databases for computer science was performed: IEEE Xplore, ScienceDirect, SpringerLink, ACM Digital Library, and ASME Digital Collection. The results extracted from 74 peer-reviewed research articles published until July 2022 were summarized and categorized into four taxonomies for 145 difficulty and complexity definitions from the perspectives of (1) definition-use objectives, (2) evaluation objectives, (3) evaluation factors, and (4) evaluation variables. Next, existing definitions were primarily classified according to the following two criteria to identify potential future studies on the formulation of new definitions for human-centric manufacturing: (1) agent specificity and (2) common aspects in manual and robotic assemblies.
DC.rights	© 2023. This manuscript version is made available under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
DC.format	92340
citation_title	Difficulty and complexity definitions for assembly task allocation and assignment in human–robot collaborations: A review
citation_author	Kiyokawa, Takuya
	Shirakura, Naoki
	Wang, Zhenting
	Yamanobe, Natsuki
	Ramirez-Alpizar, Ixchel G.
	Wan, Weiwei
	Harada, Kensuke
citation_publisher	Elsevier Ltd
citation_language	英語
citation_date	2023-06-07
citation_journal_title	Robotics and Computer-Integrated Manufacturing
citation_volume	84
citation_firstpage	102598
citation_doi	https://doi.org/10.1016/j.rcim.2023.102598
citation_public_url	https://hdl.handle.net/11094/92340

Difficulty and complexity definitions for assembly task allocation and assignment in human–robot collaborations: A review

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