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F. Ranz, V. Hummel, W. Sihn:
"Capability-based task allocation in human-robot collaboration";
Talk: 7th Conference on Learning Factories, Darmstadt; 2017-04-04 - 2017-04-05; in: "Procedia Manufacturing", Elesevier B.V., 9 (2017), ISSN: 2351-9789; 182 - 189.

Close and safe interaction of humans and robots in joint production environments is technically feasible, however should not be
implemented as an end in itself but to deliver improvement in any of a production system´s target dimensions. Firstly, this paper
shows that an essential challenge for system integrators during the design of HRC applications is to identify a suitable distribution
of available tasks between a robotic and a human resource. Secondly, it proposes an approach to determine task allocation by
considering the actual capabilities of both human and robot in order to improve work quality. It matches those capabilities with
given requirements of a certain task in order to identify the maximum congruence as the basis for the allocation decision. The
approach is based on a study and subsequent generic description of human and robotic capabilities as well as a heuristic procedure
that facilities the decision making process.

http://dx.doi.org/10.1016/j.promfg.2017.04.011

http://publik.tuwien.ac.at/files/publik_265866.pdf