Mental Fatigue Evaluation using Blink Frequency and Pupil Diameter on Human-Robot Collaboration with Different Motion Timing

This paper focuses on the robot movement's timing in a human-robot collaboration task, which can be easily changed but has not been studied well. Also, this paper discusses objective mental fatigue evaluation based on biosignals such as the blink frequency and pupil diameter for the quantitative assessment of human-robot collaboration's mental fatigue. We design a VR simulation for human-robot collaboration and conduct experiments to test different robot movement timing in the collaborative task.