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The multi-robot system (MRS) and relevant control strategy are a potential and effective approach to assist people with weak motion capability for various forms of assisted living. However, the rising transfer, a frequent and strenuous behavior, and its human-robot interaction (HRI) process with MRS, especially mental state, has never been researched, although it directly determines the user experience and security. In this paper, Functional Near-InfraRed Spectroscopy (fNIRS), a brain imaging technique to perform a continuous measure of the mental state, is introduced to monitor the user’s mental fatigue when implementing a behavior transfer in two difficulty levels assisted by multiple welfare-robots. Twenty-five subjects performed self-rising transfer and multiple welfare robots-assisted rising transfer. After removing physiological noises, six features of oxygenated and deoxygenated hemoglobin (HbO and HbR, respectively) features, which included the mean, slope, variance, peak, skewness, and kurtosis, were calculated. To maximize the distinction of fNIRS between self-rising transfer and assisted-rising transfer (multiple welfare robots assisted rising transfer), the optimal statistical feature combination for linear discriminant analysis (LDA) classification was proposed. In addition, the classification accuracy is regarded as a standard to quantify the difference of mental states between two contrasting behaviors. By fitting the index, we established the mental fatigue model that grows exponentially as the workload increases. Finally, the mental fatigue model is applied to guide the nursing mode of caregivers and the control strategy of the MRS. Our findings disclose that the combinations containing mean and peak values significantly yielded higher classification accuracies for both HbO and HbR than the entire other combinations did, across all the subjects. They effectively quantify mental fatigue to provide an evaluation with a theoretical foundation for enhancing the user experience and optimizing the control strategy of MRS.

Quantitative Estimation of Differentiated Mental Fatigue between Self-Rising Transfer and Multiple Welfare Robots-Assisted Rising Transfer