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

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, and service phases. The research status is examined in terms of human aspects and relevant technologies, identifying current limitations. Based on this, future prospects to address these limitations are discussed. Furthermore, the challenges in advancing current research towards these prospects are identified, focusing on model fidelity, individual-specific models, sensing, and computation. This research aims to support future human modeling in HRC and DT, contributing to safety, efficiency, and human well-being in industrial environments.