Collaborative robots or cobots interact with humans in a common work
environment. In cobots, one under investigated but important issue is related
to their movement and how it is perceived by humans. This paper tries to
analyze whether humans prefer a robot moving in a human or in a robotic
fashion. To this end, the present work lays out what differentiates the
movement performed by an industrial robotic arm from that performed by a human
one. The main difference lies in the fact that the robotic movement has a
trapezoidal speed profile, while for the human arm, the speed profile is
bell-shaped and during complex movements, it can be considered as a sum of
superimposed bell-shaped movements. Based on the lognormality principle, a
procedure was developed for a robotic arm to perform human-like movements. Both
speed profiles were implemented in two industrial robots, namely, an ABB IRB
120 and a Universal Robot UR3. Three tests were used to study the subjects'
preference when seeing both movements and another analyzed the same when
interacting with the robot by touching its ends with their fingers.

研究分析人们对协作机器人的运动方式的偏好，探讨工业机器人的运动与人体运动之间的主要差异，并基于对数正态原理开发了模拟人类运动的程序。通过实施不同的速度轮廓在两个工业机器人中进行测试，以研究人们对不同运动方式的偏好及与机器人互动时的感知。