Towards Human Modeling for Human-Robot Collaboration and Digital Twins in Industrial Environments: Research Status, Prospects, and Challenges

作者：Guoyi Xia, Zied Ghrairi, Thorsten Wuest, Karl Hribernik, Aaron Heuermann, Fei‐Fei Liu, Hui Liu, Klaus‐Dieter Thoben · 发表于：Robotics and Computer-Integrated Manufacturing · 年份：2025 · DOI：10.1016/j.rcim.2025.103043 · 被引用次数：25 · 研究领域：Human-Automation Interaction and Safety、Digital Transformation in Industry、Robot Manipulation and Learning

• Review the research status on human modelling in Human-Robot Collaboration and Digital Twins. • Present models for multiple aspects of humans and related modeling technologies systematically. • Present the applications of human models throughout various lifecycle stages. • Discuss human modelling prospects and challenges in Human-Robot Collaboration and Digital Twins. Human-Robot Collaboration (HRC) and Digital Twins (DT) have significantly advanced industrial development and digital transformation. Human representations and models are essential in Industry 5.0, where human-centric is one of the key features. Despite the growing interest in human models for HRC and DT, a comprehensive overview of these models and enabling technologies currently needs to be provided. This paper aims to present the research status, prospects, applications, and challenges of human modeling for HRC and DT in industrial environments. This paper adopts a Systematic Literature Review (SLR) approach. Moreover, a framework is proposed to systematize human modeling aspects, the technologies used by robots for modeling, and the applications of human models throughout various lifecycle stages. The modeled aspects are categorized into physical and behavior models, with behavior models further divided into perception, cognition, and execution models. The technology is structured hierarchically into input, process, and output layers. Applications of the models are discussed across design, manufacturing, a...