# Effect of Human Involvement on Work Performance and Fluency in Human-Robot Collaboration for Recycling

arXiv: https://arxiv.org/abs/2201.07990 · HTML: https://mlsanity.com/paper/2201.07990/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Jan 2022.

## Built on by (most cited first, 1 of 1)

- [Comparing Apples to Oranges: LLM-powered Multimodal Intention Prediction in an Object Categorization Task](https://mlsanity.com/paper/2404.08424/) (2024)

## Abstract (arXiv)

Human-robot collaboration has significant potential in recycling due to the wide variation in the composition of recyclable products. Six participants performed a recyclable item sorting task collaborating with a robot arm equipped with a vision system. The effect of three different levels of human involvement or assistance to the robot (Level 1- occlusion removal; Level 2- optimal spacing; Level 3- optimal grip) on performance metrics such as robot accuracy, task time and subjective fluency were assessed. Results showed that human involvement had a remarkable impact on the robot's accuracy, which increased with human involvement level. Mean accuracy values were 33.3% for Level 1, 69% for Level 2 and 100% for Level 3. The results imply that for sorting processes involving diverse materials that vary in size, shape, and composition, human assistance could improve the robot's accuracy to a significant extent while also being cost-effective.