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

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.<br><strong>Study Overview:</strong> 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.<br><strong>Experimental Conditions:</strong><strong>HH</strong>: Human controls both position and force (manual baseline)<strong>HR</strong>: Human controls position, robot controls force<strong>RH</strong>: Robot controls position, human controls force<strong>RR</strong>: Robot controls both position and force (supervisory condition)<br><strong>Methods:</strong> 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).<br><strong>Data Structure:</strong> The dataset contains:<strong>Raw sensor and robot data</strong> (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).<strong>Participant_order.xlsx</strong>: Documents the counterbalanced presentation order of conditions for each participant.<strong>Impact_of_roles_in_HRC.xlsx</strong>: Contains all subjective questionnaire responses (Van der Laan, NASA-TLX, ACES) collected after each condition block for all participants.<br><strong>Ethical Approval:</strong> 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 participationWere informed they could withdraw at any time without consequence<br><strong>Funding:</strong> This work was supported by the BrightSky project, funded by the R&amp;D Mobiliteitsfonds from the Netherlands Enterprise Agency (RVO) and commissioned by the Ministry of Economic Affairs and Climate Policy.

本数据集配套发表于《IEEE机器人与自动化快报》（IEEE Robotics and Automation Letters）的论文《菲茨定律再探：双智能体物理人机协作位置/力任务中的功能分配实证研究》（Mol等人，2025）。如需了解实验方法的详细概述，请参阅该发表论文，下文为简要总结。
<strong>研究概述：</strong>本研究针对物理人机协作（physical Human-Robot Collaboration, pHRC）场景下的功能分配原则开展实证研究，旨在验证菲茨经典的“MABA-MABA”框架是否适用于pHRC语境下的位置/力控制任务。共26名受试者（N=26，年龄22~42岁，其中女性4名、男性22名）采用被试内设计，在四种实验条件下完成一项抽象拼接任务。
<strong>实验条件：</strong>
<strong>HH</strong>：人类同时控制位置与力（手动基线条件）
<strong>HR</strong>：人类控制位置，机器人控制力
<strong>RH</strong>：机器人控制位置，人类控制力
<strong>RR</strong>：机器人同时控制位置与力（监督控制条件）
<strong>实验方法：</strong>受试者使用搭载专用工具的7自由度库卡（KUKA）LBR iiwa 14 R820机械臂，完成移除水平显示器上展示的表面模拟损伤的任务。该显示器表面连接有6自由度雄克（SCHUNK）FTN-Delta SI-330-30力扭矩传感器，用于采集交互力数据。每名受试者需完成熟悉环节与每种实验条件下的5次试次（总试次共计4+20次），实验条件顺序采用平衡拉丁方设计（Balanced Latin Square design）进行平衡。每个实验条件结束后，受试者需完成三份问卷：范德莱恩系统接受度量表（Van der Laan System Acceptance Scale）、NASA-TLX工作负荷评估量表，以及新开发的智能体协作与参与度量表（Agentic Collaboration and Engagement Scale, ACES）。
<strong>数据结构：</strong>本数据集包含：<strong>原始传感器与机器人数据（ROS包文件）</strong>：按对应每名受试者的编号文件夹（1~26）组织。每个包文件以时间戳、条件代码（HH/HR/RH/RR）与试次编号命名（_0至_5，其中_0为熟悉环节试次）。<strong>Participant_order.xlsx</strong>：记录每名受试者的实验条件平衡呈现顺序。<strong>Impact_of_roles_in_HRC.xlsx</strong>：包含所有受试者在每个实验条件块后收集的主观问卷数据（范德莱恩量表、NASA-TLX量表与ACES量表）。
<strong>伦理审批：</strong>本研究已获得代尔夫特理工大学人类研究伦理委员会批准。所有受试者需满足以下要求：为18~67岁的身体健康成年人（处于工作年龄段）、在参与实验前签署书面知情同意书、知晓可随时无代价退出实验。
<strong>资助信息：</strong>本研究得到BrightSky项目资助，该项目由荷兰企业局（RVO）的研发移动基金（R&D Mobiliteitsfonds）出资，并由经济事务与气候政策部委托开展。