基于实验证明，工人的认知与体力负荷随工作周期线性累积，休息时非线性恢复。
Understanding and Modeling Perceived Cognitive and Physical Strain Dynamics for Planning-Oriented Human-Robot Collaboration in Prefabricated Construction
- 通过实验建模认知与体力负荷的动态变化规律
- 认知负荷呈线性积累，休息时呈非线性衰减
- 为装配式建筑人机协作任务调度提供实证依据
预制装配式建筑中的人机协作（HRC）需兼顾生产效率与工人在重复工作-休息周期中的状态变化。现有规划模型常依赖对疲劳、负荷或恢复的简化假设，缺乏领域内实证数据支持。本研究构建了基于实证的、面向规划的感知应激动态建模方法。通过控制变量的重复工作-休息实验，采用心理努力评分量表（Rating Scale for Mental Effort）和博格感知劳累量表（Borg's Rating of Perceived Exertion）评估工人的认知与体力应激水平。对比线性与指数函数形式，并使用混合效应模型分析协作条件、会话效应及个体差异。结果表明，认知应激积累可用线性混合效应模型拟合，而休息阶段的恢复呈现非线性衰减特征。所得模型可为未来考虑人类状态的任务分配与调度研究提供支撑。
原文摘要 · Abstract (English)
Human-robot collaboration (HRC) in prefabricated construction requires planning approaches that consider not only productivity but also time-dependent worker states during repeated work and rest. Existing planning models often rely on simplified assumptions about fatigue, workload, or recovery, with limited domain-specific empirical evidence on how perceived strain evolves. This study develops an empirically grounded, planning-oriented approach to characterize perceived strain accumulation and recovery in prefabricated construction HRC. A controlled repeated work-rest experiment assessed perceived cognitive and physical strain using the Rating Scale for Mental Effort and Borg's Rating of Perceived Exertion. Linear and exponential functional forms were evaluated, followed by mixed-effects modeling to examine collaborative conditions, session effects, and inter-individual variability. Results indicate that cognitive strain accumulation is best represented by a linear mixed-effects model, whereas rest-phase recovery follows nonlinear decay. The resulting planning-oriented models may inform future human-state-aware task allocation and scheduling research.
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