{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,8]],"date-time":"2026-07-08T04:00:11Z","timestamp":1783483211763,"version":"3.55.0"},"reference-count":55,"publisher":"SAGE Publications","issue":"12","license":[{"start":{"date-parts":[[2025,1,12]],"date-time":"2025-01-12T00:00:00Z","timestamp":1736640000000},"content-version":"vor","delay-in-days":366,"URL":"http:\/\/www.sagepub.com\/licence-information-for-chorus"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["#2024688"],"award-info":[{"award-number":["#2024688"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Hum Factors"],"published-print":{"date-parts":[[2024,12]]},"abstract":"<jats:sec>\n                    <jats:title>Objective<\/jats:title>\n                    <jats:p>This study investigated the effects of different approach directions, movement speeds, and trajectories of a co-robot\u2019s end-effector on workers\u2019 mental stress during handover tasks.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Background<\/jats:title>\n                    <jats:p>Human\u2013robot collaboration (HRC) is gaining attention in industry and academia. Understanding robot-related factors causing mental stress is crucial for designing collaborative tasks that minimize workers\u2019 stress.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>Mental stress in HRC tasks was measured subjectively through self-reports and objectively through galvanic skin response (GSR) and electromyography (EMG). Robot-related factors including approach direction, movement speed, and trajectory were analyzed.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>Movement speed and approach direction had significant effects on subjective ratings, EMG, and GSR. High-speed and approaching from one side consistently resulted in higher fear, lower comfort, and predictability, as well as increased EMG and GSR signals, indicating higher mental stress. Movement trajectory affected GSR, with the sudden stop condition eliciting a stronger response compared to the constrained trajectory. Interaction effects between speed and approach direction were observed for \u201csurprise\u201d and \u201cpredictability\u201d subjective ratings. At high speed, approach direction did not significantly differ, but at low speeds, approaching from the side was found to be more surprising and unpredictable compared to approaching from the front.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusion<\/jats:title>\n                    <jats:p>The mental stress of workers during HRC is lower when the robot\u2019s end effector (1) approaches a worker within the worker\u2019s field of view, (2) approaches at a lower speed, or (3) follows a constrained trajectory.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Application<\/jats:title>\n                    <jats:p>The outcome of this study can serve as a guide to design HRC tasks with a low level of workers\u2019 mental stress.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1177\/00187208241226823","type":"journal-article","created":{"date-parts":[[2024,1,12]],"date-time":"2024-01-12T15:56:02Z","timestamp":1705074962000},"page":"2621-2635","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":9,"title":["Factors Affecting Workers\u2019 Mental Stress in Handover Activities During Human\u2013Robot Collaboration"],"prefix":"10.1177","volume":"66","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1402-341X","authenticated-orcid":false,"given":"Lu","family":"Lu","sequence":"first","affiliation":[{"name":"North Carolina State University, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1160-3822","authenticated-orcid":false,"given":"Ziyang","family":"Xie","sequence":"additional","affiliation":[{"name":"North Carolina State University, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hanwen","family":"Wang","sequence":"additional","affiliation":[{"name":"North Carolina State University, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bingyi","family":"Su","sequence":"additional","affiliation":[{"name":"North Carolina State University, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sehee","family":"Jung","sequence":"additional","affiliation":[{"name":"North Carolina State University, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8790-3103","authenticated-orcid":false,"given":"Xu","family":"Xu","sequence":"additional","affiliation":[{"name":"North Carolina State University, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2024,1,12]]},"reference":[{"key":"bibr1-00187208241226823","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2018.03.040"},{"key":"bibr2-00187208241226823","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijhcs.2021.102744"},{"key":"bibr3-00187208241226823","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-10-0266-3_4"},{"key":"bibr4-00187208241226823","doi-asserted-by":"publisher","DOI":"10.1201\/9781003123866-4"},{"key":"bibr5-00187208241226823","doi-asserted-by":"publisher","DOI":"10.1016\/j.cirp.2010.03.043"},{"key":"bibr6-00187208241226823","first-page":"253","volume-title":"Handbook of research methods in social and personality psychology","author":"Bargh J. 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