Article: Human-robot collaboration in virtual reality: evaluating the effects of vibrotactile feedback and safety information on efficiency Journal: International Journal of Manufacturing Research (IJMR) 2026 Vol.20 No.6 pp.1 - 25 Abstract: A key challenge is ensuring safe human-robot collaboration, which relies on operators' knowledge of the robot's safety capabilities. We propose that virtual reality (VR) combined with vibrotactile feedback synchronised with the robot's speed can act as a signifier of a collaborative robot's motion affordance. In a pilot study, we examine whether this vibrotactile feedback is sufficient to improve task efficiency and whether prior information about the safety function, the vibrotactile representations, and procedural guidance influences it. The safety function limits the maximum allowed speed and can reduce task efficiency if repeatedly activated. Thirty participants were divided into two groups: one received minimal information, and the other received additional information and procedural guidance. Both groups completed the same task under three conditions: no vibrotactile feedback, constant, and varied, which represented the robot's speed. The repeated-measures MANOVA indicated an overall group difference, but the follow-up ANOVAs did not support this effect. [Submitted 13 August 2025; Accepted 22 February 2026] Inderscience Publishers - linking academia, business and industry through research

Title: Human-robot collaboration in virtual reality: evaluating the effects of vibrotactile feedback and safety information on efficiency

Authors: My Legendi; Anna Syberfeldt; Göran Grahn; Maurice Lamb

Addresses: School of Engineering Science, University of Skövde, Sweden ' School of Engineering Science, University of Skövde, Sweden ' School of Engineering Science, University of Skövde, Sweden ' School of Informatics, University of Skövde, Sweden

Abstract: A key challenge is ensuring safe human-robot collaboration, which relies on operators' knowledge of the robot's safety capabilities. We propose that virtual reality (VR) combined with vibrotactile feedback synchronised with the robot's speed can act as a signifier of a collaborative robot's motion affordance. In a pilot study, we examine whether this vibrotactile feedback is sufficient to improve task efficiency and whether prior information about the safety function, the vibrotactile representations, and procedural guidance influences it. The safety function limits the maximum allowed speed and can reduce task efficiency if repeatedly activated. Thirty participants were divided into two groups: one received minimal information, and the other received additional information and procedural guidance. Both groups completed the same task under three conditions: no vibrotactile feedback, constant, and varied, which represented the robot's speed. The repeated-measures MANOVA indicated an overall group difference, but the follow-up ANOVAs did not support this effect. [Submitted 13 August 2025; Accepted 22 February 2026]

Keywords: Industry 5.0; collaborative robots; human-robot collaboration; HRC; safety function; vibrotactile feedback; virtual reality; affordance; signifier.

DOI: 10.1504/IJMR.2026.157614

International Journal of Manufacturing Research, 2026 Vol.20 No.6, pp.1 - 25

Published online: 12 Nov 2026 *

Title: Human-robot collaboration in virtual reality: evaluating the effects of vibrotactile feedback and safety information on efficiency

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