Modeling of Trust Within a Human-Robot Collaboration Framework

In this paper, a time-driven performance-aware mathematical model for trust in the robot is proposed for a Human-Robot Collaboration (HRC) framework. The proposed trust model is based on both the human operator and the robot performances. The human operator's performance is modeled based on both the physical and cognitive performances, while the robot performance is modeled over its unpredictable, predictable, dependable, and faithful operation regions. The model is validated via different simulation scenarios. The simulation results show that the trust in the robot in the HRC framework is governed by robot performance and human operator's performance and can be improved by enhancing the robot performance.