Understanding and modeling perceived cognitive and physical strain dynamics for planning-oriented human–robot collaboration in prefabricated construction

Document Type

Article

Publication Date

12-1-2026

Abstract

Human–robot collaboration (HRC) in prefabricated construction requires planning approaches account for both productivity and time-dependent worker states during repeated work–rest cycles. Prior studies have represented human factors using static workload or ergonomic scores, analytical fatigue–recovery functions, and observation-informed adaptive approaches. However, empirical evidence distinguishing perceived cognitive and physical strain trajectories across repeated work and rest remains limited in prefabricated construction. This paper presents an empirically grounded, planning-oriented approach to characterize perceived strain accumulation and recovery in construction HRC. A controlled repeated work–rest experiment measured perceived cognitive and physical strain using the Rating Scale for Mental Effort and Borg's Rating of Perceived Exertion. Linear and exponential functions were evaluated, followed by mixed-effects modeling of collaborative conditions, session effects, and inter-individual variability. Working-phase models showed comparable linear and exponential performance, whereas recovery exhibited pronounced nonlinear decay. The resulting planning-oriented models provide empirical inputs for future human-state-aware task allocation and scheduling research.

Publication Title

Automation in Construction

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