Data underlying the publication: Fitts' List Revisited: An Empirical Study on Function Allocation in a Two-Agent Physical Human-Robot Collaborative Position/Force Task

DOI:10.4121/d55393f4-f6b6-4076-86c1-7bf351f16787.v1
The DOI displayed above is for this specific version of this dataset, which is currently the latest. Newer versions may be published in the future. For a link that will always point to the latest version, please use
DOI: 10.4121/d55393f4-f6b6-4076-86c1-7bf351f16787

Datacite citation style

Mol, Nicky; Prendergast, J. Micah; Abbink, David A.; Peternel, Luka (2025): Data underlying the publication: Fitts' List Revisited: An Empirical Study on Function Allocation in a Two-Agent Physical Human-Robot Collaborative Position/Force Task. Version 1. 4TU.ResearchData. dataset. https://doi.org/10.4121/d55393f4-f6b6-4076-86c1-7bf351f16787.v1
Other citation styles (APA, Harvard, MLA, Vancouver, Chicago, IEEE) available at Datacite

Dataset

This dataset accompanies the IEEE Robotics and Automation Letters publication "Fitts' List Revisited: An Empirical Study on Function Allocation in a Two-Agent Physical Human-Robot Collaborative Position/Force Task" (Mol et al., 2025). For a more detailed overview of the experimental methods, the reader is referred to this publication. What follows is a summary.


Study Overview: This study empirically investigates function allocation principles in physical Human-Robot Collaboration (pHRC) by testing whether Fitts' classical "MABA-MABA" framework applies to position/force control tasks in the context of pHRC. Twenty-six participants (N=26, ages 22-42, 4 female, 22 male) completed an abstract blending task under four experimental conditions in a within-subject design.


Experimental Conditions:

  • HH: Human controls both position and force (manual baseline)
  • HR: Human controls position, robot controls force
  • RH: Robot controls position, human controls force
  • RR: Robot controls both position and force (supervisory condition)


Methods: Participants used a 7-DOF KUKA LBR iiwa 14 R820 robot equipped with a tool to remove simulated damage from a surface displayed on a horizontal monitor. The monitor surface was connected to a 6-DOF SCHUNK FTN-Delta SI-330-30 Force/Torque sensor to measure interaction forces. Each participant completed a familiarization and 5 trials per condition (4 + 20 trials total), with condition order counterbalanced using a Balanced Latin Square design. After each condition, participants completed three questionnaires: Van der Laan System Acceptance Scale, NASA-TLX Workload Assessment, and the newly developed Agentic Collaboration and Engagement Scale (ACES).


Data Structure: The dataset contains:

  1. Raw sensor and robot data (ROS bag files): Organized in numbered folders (1-26) corresponding to each participant. Each bag file is named with timestamp, condition code (HH/HR/RH/RR), and trial number (_0 through _5, _0 being the familiarization).
  2. Participant_order.xlsx: Documents the counterbalanced presentation order of conditions for each participant.
  3. Impact_of_roles_in_HRC.xlsx: Contains all subjective questionnaire responses (Van der Laan, NASA-TLX, ACES) collected after each condition block for all participants.


Ethical Approval: This study was approved by the Delft University of Technology Human Research Ethics Committee.

All participants:

  • Were physically healthy adults between the ages of 18-67 (working age)
  • Provided written informed consent prior to participation
  • Were informed they could withdraw at any time without consequence


Funding: This work was supported by the BrightSky project, funded by the R&D Mobiliteitsfonds from the Netherlands Enterprise Agency (RVO) and commissioned by the Ministry of Economic Affairs and Climate Policy.

History

  • 2025-11-17 first online, published, posted

Publisher

4TU.ResearchData

Format

ROS bag/.bag, spreadsheet/.xlsx

Funding

  • BrightSky [more info...] Netherlands Enterprise Agency (RVO)

Organizations

TU Delft, Faculty of Mechanical Engineering, Department of Cognitive Robotics

DATA

Files (2)