{"id":"https://openalex.org/W4417028057","doi":"https://doi.org/10.1145/3756884.3766007","title":"Errors matter! The Influence of Error Frequency and Timing on Fluency and Workload in a Virtual Human-Cobot Collaboration Environment","display_name":"Errors matter! The Influence of Error Frequency and Timing on Fluency and Workload in a Virtual Human-Cobot Collaboration Environment","publication_year":2025,"publication_date":"2025-11-12","ids":{"openalex":"https://openalex.org/W4417028057","doi":"https://doi.org/10.1145/3756884.3766007"},"language":"en","primary_location":{"id":"doi:10.1145/3756884.3766007","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3756884.3766007","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3756884.3766007","source":null,"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2025 31st ACM Symposium on Virtual Reality Software and Technology","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3756884.3766007","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093401503","display_name":"Hamd Mehfooz-Khan","orcid":"https://orcid.org/0009-0006-0935-6662"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Hamd Mehfooz Khan","raw_affiliation_strings":["Audiovisual Technology Group, Technische Universit\u00e4t Ilmenau, Ilmenau, Germany"],"raw_orcid":"https://orcid.org/0009-0006-0935-6662","affiliations":[{"raw_affiliation_string":"Audiovisual Technology Group, Technische Universit\u00e4t Ilmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044153263","display_name":"Stephanie Ar\u00e9valo Arboleda","orcid":"https://orcid.org/0000-0001-5577-4407"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stephanie Arevalo Arboleda","raw_affiliation_strings":["RWTH Aachen, Aachen, Germany"],"raw_orcid":"https://orcid.org/0000-0001-5577-4407","affiliations":[{"raw_affiliation_string":"RWTH Aachen, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008559961","display_name":"Alexander Raake","orcid":"https://orcid.org/0000-0002-9357-1763"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Raake","raw_affiliation_strings":["RWTH Aachen, Aachen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-9357-1763","affiliations":[{"raw_affiliation_string":"RWTH Aachen, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5093401503"],"corresponding_institution_ids":["https://openalex.org/I119449181"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.41827634,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.47360000014305115,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.47360000014305115,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.13279999792575836,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.05900000035762787,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/fluency","display_name":"Fluency","score":0.6840000152587891},{"id":"https://openalex.org/keywords/workcell","display_name":"Workcell","score":0.6815000176429749},{"id":"https://openalex.org/keywords/workload","display_name":"Workload","score":0.6251999735832214},{"id":"https://openalex.org/keywords/undo","display_name":"Undo","score":0.5892999768257141},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5842000246047974},{"id":"https://openalex.org/keywords/affect","display_name":"Affect (linguistics)","score":0.5709999799728394},{"id":"https://openalex.org/keywords/workflow","display_name":"Workflow","score":0.536300003528595},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5249999761581421}],"concepts":[{"id":"https://openalex.org/C2777413886","wikidata":"https://www.wikidata.org/wiki/Q3276013","display_name":"Fluency","level":2,"score":0.6840000152587891},{"id":"https://openalex.org/C2781411174","wikidata":"https://www.wikidata.org/wiki/Q8034662","display_name":"Workcell","level":3,"score":0.6815000176429749},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.6251999735832214},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6093000173568726},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6026999950408936},{"id":"https://openalex.org/C2780154230","wikidata":"https://www.wikidata.org/wiki/Q513420","display_name":"Undo","level":2,"score":0.5892999768257141},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5842000246047974},{"id":"https://openalex.org/C2776035688","wikidata":"https://www.wikidata.org/wiki/Q1606558","display_name":"Affect (linguistics)","level":2,"score":0.5709999799728394},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.536300003528595},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5249999761581421},{"id":"https://openalex.org/C169806903","wikidata":"https://www.wikidata.org/wiki/Q5937752","display_name":"Human error","level":2,"score":0.4564000070095062},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4242999851703644},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3946000039577484},{"id":"https://openalex.org/C103088060","wikidata":"https://www.wikidata.org/wiki/Q1062839","display_name":"Error detection and correction","level":2,"score":0.3653999865055084},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.33559998869895935},{"id":"https://openalex.org/C142853389","wikidata":"https://www.wikidata.org/wiki/Q744778","display_name":"Association (psychology)","level":2,"score":0.3296999931335449},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.30489999055862427},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.30149999260902405},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.27129998803138733},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.2653999924659729},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.2621999979019165},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.25609999895095825}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3756884.3766007","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3756884.3766007","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3756884.3766007","source":null,"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2025 31st ACM Symposium on Virtual Reality Software and Technology","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.rwth-aachen.de:1025176","is_oa":true,"landing_page_url":"https://publications.rwth-aachen.de/record/1025176","pdf_url":null,"source":{"id":"https://openalex.org/S4306401033","display_name":"RWTH Publications (RWTH Aachen)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I887968799","host_organization_name":"RWTH Aachen University","host_organization_lineage":["https://openalex.org/I887968799"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings VRST 2025 : 31st ACM Symposium on Virtual Reality Software and Technology : November 12 \u2013 14, 2025, Montreal, QC, Canada / General Co-Chairs: Anil Ufuk Batmaz, Mayra D. Barrera Machuca, Francisco R. Ortega ; Program Co-Chairs: Daniel Zielasko, Kangsoo Kim, Rick Skarbez ; Posters & Demos Co-Chairs: Lucas Plabst, Amy Bani\u0107, Mine Sarac Stroppa<br/>31. ACM Symposium on Virtual Reality Software and Technology, VRST 2025, Montreal, QC, Canada, 2025-11-12 - 2025-11-14","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"doi:10.1145/3756884.3766007","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3756884.3766007","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3756884.3766007","source":null,"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2025 31st ACM Symposium on Virtual Reality Software and Technology","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309895","display_name":"Carl-Zeiss-Stiftung","ror":"https://ror.org/03ng4kg22"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4417028057.pdf","grobid_xml":"https://content.openalex.org/works/W4417028057.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1966629261","https://openalex.org/W1987900808","https://openalex.org/W2045974925","https://openalex.org/W2065804258","https://openalex.org/W2094251476","https://openalex.org/W2104999980","https://openalex.org/W2112645526","https://openalex.org/W2128213565","https://openalex.org/W2143192604","https://openalex.org/W2151905266","https://openalex.org/W2556512662","https://openalex.org/W2611881801","https://openalex.org/W2753969510","https://openalex.org/W2808048733","https://openalex.org/W2927819804","https://openalex.org/W2991224891","https://openalex.org/W3042300370","https://openalex.org/W3160407673","https://openalex.org/W3185685212","https://openalex.org/W4282958743","https://openalex.org/W4283701530","https://openalex.org/W4293860068","https://openalex.org/W4317468071","https://openalex.org/W4318474522","https://openalex.org/W4318830390","https://openalex.org/W4323536974","https://openalex.org/W4383199443","https://openalex.org/W4391855205","https://openalex.org/W4395030281","https://openalex.org/W4396683738","https://openalex.org/W4400114955","https://openalex.org/W4401018113","https://openalex.org/W4401922640"],"related_works":[],"abstract_inverted_index":{"Cobots":[0],"are":[1,17],"widespread":[2],"among":[3],"manufacturing":[4,43],"industries,":[5],"where":[6,39,117],"humans":[7],"and":[8,74,79,111,151,183,218,245],"robots":[9],"work":[10],"together":[11,85],"in":[12,26,45,239,242],"assembly":[13,100,154,214],"tasks.":[14],"However,":[15],"cobots":[16],"not":[18,187],"free":[19],"from":[20],"errors,":[21],"which":[22],"may":[23],"affect":[24,55,188,206],"collaboration":[25,60],"terms":[27],"of":[28,58,103,200,209,235,253],"human-robot":[29,59,75,236,254],"workflow":[30],"fluency.":[31],"We":[32],"present":[33],"a":[34,42,50,87,89,114,157,174,250],"study":[35],"(N":[36],"=":[37],"21)":[38],"we":[40,112,129],"simulate":[41],"workcell":[44],"VR":[46],"to":[47,107,132,167,194],"investigate":[48],"how":[49],"cobot\u2019s":[51,175,191],"faulty":[52,115,176],"behavior":[53,116,177],"can":[54,205,231],"the":[56,118,122,148,153,164,168,180,189,195,207,210,225],"perception":[57,252],"during":[61],"assembly,":[62],"considering":[63],"fluency":[64,182],"(human-robot":[65],"fluency,":[66],"robot":[67,119,145],"relative":[68,192],"contribution,":[69],"positive":[70,251],"teammate":[71],"traits,":[72],"trust":[73],"working":[76,212],"alliance":[77],"goal)":[78],"workload.":[80],"For":[81],"that,":[82],"participants":[83,131],"assembled,":[84],"with":[86],"cobot,":[88],"complex":[90],"piece":[91],"inside":[92],"electric":[93],"vehicles":[94],"(gearbox":[95],"e-axle)":[96],"five":[97],"times.":[98],"The":[99,197],"process":[101],"consisted":[102],"six":[104],"different":[105],"steps":[106],"be":[108],"performed":[109],"sequentially,":[110],"implemented":[113],"would":[120,146,162],"follow":[121],"wrong":[123],"sequence.":[124],"After":[125],"an":[126,140,201],"error":[127,137,142,202,221,243],"occurred,":[128],"allowed":[130],"choose":[133],"freely":[134],"between":[135],"two":[136],"recovery":[138,143],"behaviors:":[139],"automatic":[141],"(the":[144,160],"undo":[147],"last":[149],"step":[150],"continue":[152],"process)":[155],"or":[156],"training":[158],"mode":[159],"human":[161],"indicate":[163],"right":[165],"sequence":[166],"robot).":[169],"Our":[170],"results":[171],"confirm":[172],"that":[173,248],"negatively":[178],"affects":[179],"perceived":[181,190,226],"workload,":[184],"but":[185],"does":[186],"contribution":[193],"task.":[196],"temporal":[198,216],"sequencing":[199],"(error":[203],"timing)":[204],"goal":[208],"human-cobot":[211],"alliance,":[213],"duration,":[215],"demand,":[217],"effort.":[219],"Also,":[220],"frequency":[222],"impacts":[223],"differently":[224],"physical":[227],"demand.":[228],"These":[229],"findings":[230],"inform":[232],"design":[233],"choices":[234],"collaborative":[237],"workflows":[238],"manufacturing,":[240],"specifically,":[241],"handling":[244],"mitigation":[246],"strategies":[247],"preserve":[249],"teams.":[255]},"counts_by_year":[],"updated_date":"2026-03-10T14:07:55.174380","created_date":"2025-12-05T00:00:00"}