{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,30]],"date-time":"2025-10-30T05:29:06Z","timestamp":1761802146230,"version":"build-2065373602"},"reference-count":25,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2025,10,30]],"date-time":"2025-10-30T00:00:00Z","timestamp":1761782400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>In response to the growing need for flexibility in handling complex tasks, research on human\u2013robot collaboration (HRC) has garnered considerable attention. Recent studies on HRC have achieved smooth handover tasks between humans and robots by adaptively responding to human states. Collaboration was further improved by conveying the state of the robot to humans via robotic interactive motion cues. However, in scenarios such as collaborative assembly tasks that require precise positioning, methods relying on motion or forces caused by interactions through the shared object compromise both task accuracy and smoothness, and are therefore not directly applicable. To address this, the present study proposes a method to convey the stiffness of the robot to a human arm during collaborative human-robot assembly tasks in a manner that does not affect the shared object or task, aiming to enhance efficiency and reduce human workload. Sixteen participants performed a collaborative assembly task with a robot, which involved unscrewing, repositioning, and reattaching a part while the robot held and adjusted the position of the part. The experiment examined the effectiveness of the proposed method, in which the robot\u2019s stiffness was communicated to a participant\u2019s forearm. The independent variable, tested within-subjects, was the stiffness presentation method, with three levels: without the proposed method (no presentation) and with the proposed method (real-time and predictive presentations). The results demonstrated that the proposed method enhanced task efficiency by shortening task completion time, which was associated with lower subjective workload scores.<\/jats:p>","DOI":"10.3389\/frobt.2025.1660691","type":"journal-article","created":{"date-parts":[[2025,10,30]],"date-time":"2025-10-30T05:24:19Z","timestamp":1761801859000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Effect of presenting robot hand stiffness to human arm on human-robot collaborative assembly tasks"],"prefix":"10.3389","volume":"12","author":[{"given":"Junya","family":"Yamamoto","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kenji","family":"Tahara","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Takahiro","family":"Wada","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1965","published-online":{"date-parts":[[2025,10,30]]},"reference":[{"key":"B1","doi-asserted-by":"crossref","first-page":"119","DOI":"10.1109\/ICRA.2014.6906598","article-title":"A robot on the shoulder: coordinated human-wearable robot control using coloured petri nets and partial least squares predictions","volume-title":"2014 IEEE international conference on robotics and automation (ICRA)","author":"Bonilla","year":"2014"},{"key":"B2","first-page":"1449","article-title":"Finger response times to visual, auditory and tactile modality stimuli","volume":"2196","author":"Chan","year":"2012","journal-title":"Lect. 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