{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,25]],"date-time":"2026-08-25T10:05:24Z","timestamp":1787652324357,"version":"build-2736575974"},"reference-count":53,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2023,10,26]],"date-time":"2023-10-26T00:00:00Z","timestamp":1698278400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Psychol."],"abstract":"<jats:sec><jats:title>Introduction<\/jats:title><jats:p>In Industry 4.0, collaborative tasks often involve operators working with collaborative robots (cobots) in shared workspaces. Many aspects of the operator's well-being within this environment still need in-depth research. Moreover, these aspects are expected to differ between neurotypical (NT) and Autism Spectrum Disorder (ASD) operators.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>This study examines behavioral patterns in 16 participants (eight neurotypical, eight with high-functioning ASD) during an assembly task in an industry-like lab-based robotic collaborative cell, enabling the detection of potential risks to their well-being during industrial human-robot collaboration. Each participant worked on the task for five consecutive days, 3.5 h per day. During these sessions, six video clips of 10 min each were recorded for each participant. The videos were used to extract quantitative behavioral data using the NOVA annotation tool and analyzed qualitatively using an <jats:italic>ad-hoc<\/jats:italic> observational grid. Also, during the work sessions, the researchers took unstructured notes of the observed behaviors that were analyzed qualitatively.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>The two groups differ mainly regarding behavior (e.g., prioritizing the robot partner, gaze patterns, facial expressions, multi-tasking, and personal space), adaptation to the task over time, and the resulting overall performance.<\/jats:p><\/jats:sec><jats:sec><jats:title>Discussion<\/jats:title><jats:p>This result confirms that NT and ASD participants in a collaborative shared workspace have different needs and that the working experience should be tailored depending on the end-user's characteristics. The findings of this study represent a starting point for further efforts to promote well-being in the workplace. To the best of our knowledge, this is the first work comparing NT and ASD participants in a collaborative industrial scenario.<\/jats:p><\/jats:sec>","DOI":"10.3389\/fpsyg.2023.1245857","type":"journal-article","created":{"date-parts":[[2023,10,26]],"date-time":"2023-10-26T13:47:58Z","timestamp":1698328078000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":16,"title":["Behavioral patterns in robotic collaborative assembly: comparing neurotypical and Autism Spectrum Disorder participants"],"prefix":"10.3389","volume":"14","author":[{"given":"Marta","family":"Mondellini","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pooja","family":"Prajod","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Matteo","family":"Lavit Nicora","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mattia","family":"Chiappini","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ettore","family":"Micheletti","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fabio Alexander","family":"Storm","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Rocco","family":"Vertechy","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Elisabeth","family":"Andr\u00e9","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Matteo","family":"Malosio","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2023,10,26]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"93","DOI":"10.1016\/j.procir.2018.03.214","article-title":"Refining levels of collaboration to support the design and evaluation of human-robot interaction in the manufacturing industry","volume":"72","author":"Aaltonen","year":"2018","journal-title":"Procedia CIRP"},{"key":"B2","doi-asserted-by":"publisher","first-page":"118664","DOI":"10.1109\/ACCESS.2020.3005296","article-title":"Applied behavior analysis for the treatment of autism: a systematic review of assistive technologies","volume":"8","author":"Alves","year":"2020","journal-title":"IEEE Access"},{"key":"B3","volume-title":"Diagnostic and Statistical Manual of Mental Disorders: DSM-IV","author":"American Psychiatric Association","year":"1994"},{"key":"B4","doi-asserted-by":"publisher","DOI":"10.3389\/fpsyg.2018.00528","article-title":"Seeing more than human: autism and anthropomorphic theory of mind","author":"Atherton","year":"2018","journal-title":"Front. Psychol"},{"key":"B5","doi-asserted-by":"publisher","first-page":"784249","DOI":"10.3389\/frobt.2022.784249","article-title":"Sequencing matters: investigating suitable action sequences in robot-assisted autism therapy","volume":"9","author":"Baraka","year":"2022","journal-title":"Front. Robot. AI"},{"key":"B6","doi-asserted-by":"publisher","first-page":"748853","DOI":"10.3389\/frobt.2021.748853","article-title":"Visual and hearing sensitivity affect robot-based training for children diagnosed with autism spectrum disorder","volume":"8","author":"Chevalier","year":"2022","journal-title":"Front. Robot. AI"},{"key":"B7","first-page":"368","article-title":"\u201cDifferent gaze behavior in human-robot interaction in asperger's syndrome: an eye-tracking study,\u201d","author":"Damm","year":"2013"},{"key":"B8","doi-asserted-by":"publisher","first-page":"162","DOI":"10.1016\/j.robot.2019.03.003","article-title":"Cobot programming for collaborative industrial tasks: an overview","volume":"116","author":"El Zaatari","year":"2019","journal-title":"Robot. Auton. Syst"},{"key":"B9","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/s12193-011-0077-1","article-title":"Visual scenemaker a tool for authoring interactive virtual characters","volume":"6","author":"Gebhard","year":"2012","journal-title":"J. Multimodal User Interfaces"},{"key":"B10","doi-asserted-by":"publisher","DOI":"10.1016\/j.rasd.2021.101822","article-title":"Follow the white robot: efficacy of robot-assistive training for children with autism spectrum disorder","author":"Ghiglino","year":"2021","journal-title":"Res. Autism Spectr. Disord"},{"key":"B11","doi-asserted-by":"publisher","first-page":"200","DOI":"10.1192\/bjp.172.3.200","article-title":"Asperger syndrome and high-functioning autism","volume":"172","author":"Gillberg","year":"1998","journal-title":"Br. J. Psychiatry"},{"key":"B12","first-page":"392","article-title":"\u201cAutomatic detection of stereotyped hand flapping movements: two different approaches,\u201d","volume-title":"2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication","author":"Gon\u00e7alves","year":"2012"},{"key":"B13","doi-asserted-by":"publisher","first-page":"1144","DOI":"10.1002\/aur.2244","article-title":"The relation between preference for predictability and autistic traits","volume":"13","author":"Goris","year":"2020","journal-title":"Autism Res"},{"key":"B14","doi-asserted-by":"crossref","first-page":"109","DOI":"10.1109\/ACII.2019.8925519","article-title":"\u201cNOVA-a tool for explainable cooperative machine learning,\u201d","volume-title":"2019 8th International Conference on Affective Computing and Intelligent Interaction (ACII)","author":"Heimerl","year":"2019"},{"key":"B15","doi-asserted-by":"publisher","first-page":"125","DOI":"10.3233\/JVR-2010-0502","article-title":"Employment and adults with autism spectrum disorders: challenges and strategies for success","volume":"32","author":"Hendricks","year":"2010","journal-title":"J. Vocat. Rehabil"},{"key":"B16","doi-asserted-by":"crossref","first-page":"841","DOI":"10.1109\/INDIN41052.2019.8971967","article-title":"\u201cOn-line training and monitoring of robot tasks through virtual reality,\u201d","volume-title":"2019 IEEE 17th International Conference on Industrial Informatics (INDIN)","author":"Hormaza","year":"2019"},{"key":"B17","doi-asserted-by":"crossref","first-page":"83","DOI":"10.1109\/HRI.2016.7451737","article-title":"\u201cAnticipatory robot control for efficient human-robot collaboration,\u201d","volume-title":"2016 11th ACM\/IEEE international conference on human-robot interaction (HRI)","author":"Huang","year":"2016"},{"key":"B18","doi-asserted-by":"publisher","first-page":"226","DOI":"10.1108\/IR-04-2021-0077","article-title":"Challenges and opportunities in human robot collaboration context of Industry 4.0-a state of the art review","volume":"49","author":"Inkulu","year":"2021","journal-title":"Ind. Rob"},{"key":"B19","doi-asserted-by":"publisher","first-page":"1479","DOI":"10.1016\/j.paid.2006.10.021","article-title":"Loneliness, social relationships, and a broader autism phenotype in college students","volume":"42","author":"Jobe","year":"2007","journal-title":"Pers. Individ. Dif"},{"key":"B20","volume-title":"Revitalizing Human-Machine Interaction for the Advancement of Society: Perspectives from Germany and Japan","author":"Kagermann","year":"2019"},{"key":"B21","doi-asserted-by":"publisher","DOI":"10.13140\/RG.2.2.25899.57128","article-title":"A brief introduction to thematic analysis","author":"Kampira","year":"2021","journal-title":"Res. Gate"},{"key":"B22","doi-asserted-by":"publisher","first-page":"198","DOI":"10.1016\/j.psychres.2010.11.006","article-title":"Feedback and reward processing in high-functioning autism","volume":"187","author":"Larson","year":"2011","journal-title":"Psychiatry Res"},{"key":"B23","doi-asserted-by":"publisher","DOI":"10.3390\/app112210520","article-title":"Social distance in interactions between children with autism and robots","author":"Lee","year":"2021","journal-title":"Appl. Sci"},{"key":"B24","doi-asserted-by":"publisher","first-page":"466","DOI":"10.1016\/j.jaac.2017.03.013","article-title":"What is the male-to-female ratio in autism spectrum disorder? A systematic review and meta-analysis","volume":"56","author":"Loomes","year":"2017","journal-title":"J. Am. Acad. Child Adolesc. Psychiatry"},{"key":"B25","doi-asserted-by":"publisher","first-page":"621","DOI":"10.3390\/s22020621","article-title":"Behavioral data analysis of robot-assisted autism spectrum disorder (ASD) interventions based on lattice computing techniques","volume":"22","author":"Lytridis","year":"2022","journal-title":"Sensors"},{"key":"B26","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1016\/j.bandc.2005.12.006","article-title":"High functioning children with autism spectrum disorder: a novel test of multitasking","volume":"61","author":"Mackinlay","year":"2006","journal-title":"Brain Cogn"},{"key":"B27","doi-asserted-by":"crossref","first-page":"247","DOI":"10.1145\/2663204.2663275","article-title":"\u201cExploring a model of gaze for grounding in multimodal HRI,\u201d","volume-title":"Proceedings of the 16th International Conference on Multimodal Interaction","author":"Mehlmann","year":"2014"},{"key":"B28","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/3313831.3376547","article-title":"\u201cCollaborative or simply uncaged? Understanding human-cobot interactions in automation,\u201d","volume-title":"Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems","author":"Michaelis","year":"2020"},{"key":"B29","doi-asserted-by":"publisher","first-page":"194","DOI":"10.1016\/j.mechatronics.2018.08.006","article-title":"Seamless human robot collaborative assembly-an automotive case study","volume":"55","author":"Michalos","year":"2018","journal-title":"Mechatronics"},{"key":"B30","doi-asserted-by":"publisher","first-page":"231","DOI":"10.1177\/10883576050200040501","article-title":"Collaborative virtual environment technology for people with autism","volume":"20","author":"Moore","year":"2005","journal-title":"Focus Autism Other Dev. Disabl"},{"key":"B31","volume-title":"Autism Spectrum Disorder and the Transition into Secondary School: A Handbook for Implementing Strategies in the Mainstream School Setting","author":"Murin","year":"2016"},{"key":"B32","first-page":"285","article-title":"\u201cA human-driven control architecture for promoting good mental health in collaborative robot scenarios,\u201d","volume-title":"2021 30th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","author":"Nicora","year":"2021"},{"key":"B33","unstructured":"Empathy Mapping2018"},{"key":"B34","doi-asserted-by":"publisher","first-page":"1609406917733847","DOI":"10.1177\/1609406917733847","article-title":"Thematic analysis: striving to meet the trustworthiness criteria","volume":"16","author":"Nowell","year":"2017","journal-title":"Int. J. Qual. Methods"},{"key":"B35","doi-asserted-by":"publisher","first-page":"8414","DOI":"10.3390\/s21248414","article-title":"A new socially assistive robot with integrated serious games for therapies with children with autism spectrum disorder and down syndrome: a pilot study","volume":"21","author":"Panceri","year":"2021","journal-title":"Sensors"},{"key":"B36","doi-asserted-by":"crossref","first-page":"140","DOI":"10.1145\/3594806.3594819","article-title":"\u201cGaze-based attention recognition for human-robot collaboration,\u201d","volume-title":"Proceedings of the 16th International Conference on Pervasive Technologies Related to Assistive Environments","author":"Prajod","year":"2023"},{"key":"B37","first-page":"5","article-title":"\u201cROS: an open-source robot operating system,\u201d","author":"Quigley","year":"2009","journal-title":"ICRA Workshop on Open Source Software"},{"key":"B38","doi-asserted-by":"publisher","first-page":"1445","DOI":"10.1007\/s10803-010-1151-3","article-title":"Investigating multitasking in high-functioning adolescents with autism spectrum disorders using the virtual errands task","volume":"41","author":"Rajendran","year":"2011","journal-title":"J. Autism Dev. Disord"},{"key":"B39","doi-asserted-by":"publisher","DOI":"10.5281\/zenodo.5675810","author":"Redaelli","year":"2021","journal-title":"Mindbot Planetary Gearbox"},{"key":"B40","volume-title":"Applied Qualitative Research Design: A Total Quality Framework Approach","author":"Roller","year":"2015"},{"key":"B41","doi-asserted-by":"publisher","first-page":"580","DOI":"10.1080\/17483107.2019.1685016","article-title":"Robot applications for autism: a comprehensive review","volume":"16","author":"Saleh","year":"2021","journal-title":"Disabil. Rehabil.: Assist. Technol"},{"key":"B42","doi-asserted-by":"crossref","first-page":"8615","DOI":"10.1109\/IROS.2018.8593580","article-title":"\u201cHuman gaze following for human-robot interaction,\u201d","volume-title":"2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Saran","year":"2018"},{"key":"B43","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1145\/3468849","article-title":"Predictable robots for autistic children variance in robot behaviour, idiosyncrasies in autistic childrens characteristics, and child-robot engagement","volume":"28","author":"Schadenberg","year":"2021","journal-title":"ACM Trans. Comput.-Hum. Interact"},{"key":"B44","doi-asserted-by":"publisher","first-page":"68","DOI":"10.3390\/robotics10020068","article-title":"Gazeemd: detecting visual intention in gaze-based human-robot interaction","volume":"10","author":"Shi","year":"2021","journal-title":"Robotics"},{"key":"B45","doi-asserted-by":"publisher","DOI":"10.3390\/mti5100057","article-title":"Fostering emotion recognition in children with autism spectrum disorder","author":"Silva","year":"2021","journal-title":"Multimodal Technol. Interact"},{"key":"B46","doi-asserted-by":"publisher","first-page":"681","DOI":"10.1002\/pits.20257","article-title":"Interventions addressing transition difficulties for individuals with autism","volume":"44","author":"Sterling-Turner","year":"2007","journal-title":"Psychol. Sch"},{"key":"B47","doi-asserted-by":"publisher","first-page":"1168837","DOI":"10.3389\/fpsyt.2023.1168837","article-title":"Social skills training using multiple humanoid robots for individuals with autism spectrum conditions","volume":"14","author":"Takata","year":"2023","journal-title":"Front. Psychiatry"},{"key":"B48","doi-asserted-by":"publisher","first-page":"4626","DOI":"10.3390\/s21144626","article-title":"Emotion-driven analysis and control of human-robot interactions in collaborative applications","volume":"21","author":"Toichoa Eyam","year":"2021","journal-title":"Sensors"},{"key":"B49","doi-asserted-by":"publisher","first-page":"335","DOI":"10.1109\/THMS.2021.3092684","article-title":"Cobots in Industry 4.0. A roadmap for future practice studies on human-robot collaboration","volume":"51","author":"Weiss","year":"2021","journal-title":"EEE Trans. Hum.-Mach. Syst"},{"key":"B50","doi-asserted-by":"publisher","first-page":"785","DOI":"10.1177\/0145445501255007","article-title":"Teaching social skills to people with autism","volume":"25","author":"Weiss","year":"2001","journal-title":"Behav. Modif"},{"key":"B51","doi-asserted-by":"publisher","first-page":"63","DOI":"10.1016\/j.jecp.2017.04.003","article-title":"The development of multitasking in children aged 7-12 years: evidence from cross-sectional and longitudinal data","volume":"161","author":"Yang","year":"2017","journal-title":"J. Exp. Child Psychol"},{"key":"B52","doi-asserted-by":"publisher","first-page":"3464","DOI":"10.3923\/jas.2014.3464.3471","article-title":"Effects of stress, repetition, fatigue and work environment on human error in manufacturing industries","volume":"14","author":"Yeow","year":"2014","journal-title":"J. Appl. Sci"},{"key":"B53","doi-asserted-by":"publisher","first-page":"173","DOI":"10.1007\/s00779-016-0969-x","article-title":"Look together: using gaze for assisting co-located collaborative search","volume":"21","author":"Zhang","year":"2017","journal-title":"Pers. Ubiquitous Comput"}],"container-title":["Frontiers in Psychology"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/fpsyg.2023.1245857\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,26]],"date-time":"2023-10-26T13:48:11Z","timestamp":1698328091000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/fpsyg.2023.1245857\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,10,26]]},"references-count":53,"alternative-id":["10.3389\/fpsyg.2023.1245857"],"URL":"https:\/\/doi.org\/10.3389\/fpsyg.2023.1245857","relation":{},"ISSN":["1664-1078"],"issn-type":[{"value":"1664-1078","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,10,26]]},"article-number":"1245857"}}