近年來隨著工業 5.0 概念的出現，人機協作逐漸成為重要研究議題，結合機 器人卓越的執行能力，以及人對環境變化的應對決策，以互補方式規劃與設計作 業，能夠有效完成高複雜度的製造流程。然而由於安全性規範限制，人機協作分 工方式尚未有明確定義，故本研究提出綜觀之作業規劃模型，以有效實現基於擴 增實境之人機協作。此模型聚區分左右手，先針對作業流程進行動素分析，重新 組合成單手任務，從時間及人因的角度分配任務，並依據對應任務執行時間決定 最佳化排程。此外，實際應用擴增實境頭戴式裝置與協作型機器人，提供即時性 輔助資訊提示，提高人員對機械手臂運動的理解，並依循模型產出結果建立實驗 環境，透過量化績效指標分析，顯示最佳化模型規劃之作業流程，相較於不區分 左右手的傳統作業方式，改善製程完成時間，並顯示以擴增實境輔助人機協作的 可行性。

Human-robot collaboration (HRC) has emerged as a crucial research area in realizing the vision of Industry 5.0. Complex manufacturing operations can be efficiently and effectively completed by combining the physical capabilities of robots with human adaptability and decision-making in dynamic environments. However, task allocation in manufacturing systems involving human-robot collaboration still faces challenges due to strict safety regulations and the variability of human behavior. To address this issue, this study introduces a comprehensive operational planning model that enables effective human-robot collaboration (HRC) supported by head-mounted augmented reality (AR). This model distinguishes between tasks performed by the left and right hands based on Therbligs analysis and subsequently reorganizes them into single-handed operations. Tasks are allocated from the perspectives of efficiency and ergonomics and are optimally scheduled by considering the completion time of each possible task. In addition, AR-assisted functions are developed to enhance human understanding of real-time robot movements through visual cues. Test results from an HRC scenario validate the advantages of the proposed model compared to a traditional approach that does not differentiate between left- and right-hand tasks. The scenario also demonstrates the practicality of head-mounted AR in supporting HRC.

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