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

Number of Access:716（2025-08-13 19:48 Counts）

Identifier to cite or link to this item: https://hdl.handle.net/11094/92340

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Title	Difficulty and complexity definitions for assembly task allocation and assignment in human–robot collaborations: A review
Creator	NRID 1000030909403 1000030909403 ORCID 0000-0002-8555-8489 0000-0002-8555-8489 researchmap permalink takuya-ki takuya-ki Scopus Author ID 57207579369 57207579369 CreatorName Kiyokawa, Takuya
	CreatorName Shirakura, Naoki
	CreatorName Wang, Zhenting
	NRID 1000090455436 1000090455436 CreatorName Yamanobe, Natsuki
	CreatorName 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 CreatorName Wan, Weiwei
	NRID 1000050294533 1000050294533 ORCID 0000-0002-7576-756X 0000-0002-7576-756X researchmap permalink kharada kharada Scopus Author ID 35446109900 35446109900 CreatorName Harada, Kensuke
Subject	Assembly
	Complexity
	Difficulty
	Human–robot collaboration
	Task allocation
	Task assignment
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.
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.
Publisher	Elsevier Ltd
Source Title	Robotics and Computer-Integrated Manufacturing
Volume (Issue)	84
Page	102598
Date of Issued	2023-06-07
Language	English
Handle URL	https://hdl.handle.net/11094/92340
PISSN	07365845
NCID	AA10481534
Relation.isVersionOf	DOI (Publisher Version) https://doi.org/10.1016/j.rcim.2023.102598
Access Rights	open access
CopyRight	© 2023. This manuscript version is made available under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
oaire:version	Accepted Manuscript
Category	学術雑誌論文 Journal Article

Resource Type	journal article
Local Type	Journal Article
DCMI Type	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	English
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	English
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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