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We provide an experimental evaluation of a wearable augmented reality (AR)system we have developed for human-robot teams working on tasks requiringcollaboration in shared physical workspace. Recent advances in AR technologyhave facilitated the development of more intuitive user interfaces for manyhuman-robot interaction applications. While it has been anticipated that AR canprovided a more intuitive interface to robot assistants helping human workersin various manufacturing scenarios, existing studies in robotics have beenlargely limited to teleoperation and programming. Industry 5.0 envisionscooperation between human and robot working in teams. Indeed, there exist manyindustrial task that can benefit from human-robot collaboration. A primeexample is high-value composite manufacturing. Working with our industrypartner towards this example application, we evaluated our AR interface designfor shared physical workspace collaboration in human-robot teams. We conducteda multi-dimensional analysis of our interface using establish metrics. Resultsfrom our user study (n=26) show that subjectively, the AR interface feels morenovel and a standard joystick interface feels more dependable to users.However, the AR interface was found to reduce physical demand and taskcompletion time, while increasing robot utilization. Furthermore, user'sfreedom of choice to collaborate with the robot may also affect the perceivedusability of the system.

Design and Evaluation of an Augmented Reality Head-Mounted Display  Interface for Human Robot Teams Collaborating in Physically Shared  Manufacturing Tasks