Human-robot collaboration (HRC) in prefabricated construction requires planning approaches that consider not only productivity but also time-dependent worker states during repeated work and rest. Existing planning models often rely on simplified assumptions about fatigue, workload, or recovery, with limited domain-specific empirical evidence on how perceived strain evolves. This study develops an empirically grounded, planning-oriented approach to characterize perceived strain accumulation and recovery in prefabricated construction HRC. A controlled repeated work-rest experiment assessed perceived cognitive and physical strain using the Rating Scale for Mental Effort and Borg's Rating of Perceived Exertion. Linear and exponential functional forms were evaluated, followed by mixed-effects modeling to examine collaborative conditions, session effects, and inter-individual variability. Results indicate that cognitive strain accumulation is best represented by a linear mixed-effects model, whereas rest-phase recovery follows nonlinear decay. The resulting planning-oriented models may inform future human-state-aware task allocation and scheduling research.

翻译：装配式建筑中的人机协作（HRC）需要一种规划方法，该方法不仅要考虑生产率，还需关注重复工作与休息期间随时间变化的工人状态。现有的规划模型通常基于对疲劳、工作负荷或恢复的简化假设，但缺乏关于感知应变如何演化的领域特异性经验证据。本研究开发了一种基于经验、面向规划的方法，用于描述装配式建筑人机协作中感知应变的累积与恢复。通过一项受控的重复工作-休息实验，采用脑力负荷评分量表和博格主观体力感知等级量表评估了感知认知与体力应变。评估了线性和指数函数形式，随后采用混合效应模型分析协作条件、实验轮次效应及个体间差异性。结果表明，认知应变累积最适合通过线性混合效应模型表示，而休息阶段的恢复遵循非线性衰减。本文提出的面向规划模型可为未来考虑人类状态的自主任务分配与调度研究提供参考。