Design and Simulation of an Interactive Human Robot Disassembly System for End of Life Phones

Design and Simulation of an Interactive Human Robot Disassembly System for End of Life Phones | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Design and Simulation of an Interactive Human Robot Disassembly System for End of Life Phones Soufiane Ameur, Mohamed Tabaa, Kaouter Karboub, Mohamed Hamlich, and 1 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7196317/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract With the growing challenge of e-waste and end-of-life phones, a clear demand is required for efficient and scalable recycling solutions. This study proposes a realistic simulation of a collaborative robotic disassembly system that consists of six specialized stations designed for recycling and disassembling 100% of the end-of-life phone components. This study integrates human-robot collaboration (HRC) and human-robot interaction (HRI) using voice and gesture commands to enable adaptive task reassignment and real-time error correction with reduced downtime. This framework combines real-world simulation, RoboDK modeling, linear programming optimization, and HRC scenarios to assess system responsiveness. Over 30 operational and collaborative constraints were mathematically formulated. A total processing time of 955.37 seconds has been achieved in a test carried out on disassembling 10 phones with error rates ranging from 3.3–4.1%. The hand-sign recognition module based on YOLOv12n accurately detected gestures with confidence scores in the range of 0.91 to 0.94, thus improving safety and non-verbal communication in HR centers. The execution of voice commands for actions such as “start” and “you take” showed inference times of 2.1 to 2.6 seconds, thus validating the feasibility of real-time HRI with two methods. With scenarios such as a human abandoning a task, a robot misclassifying a device or switching tasks based on screen conditions, HRC reduced downtime and improved task continuity by enabling robots to autonomously handle failed or delayed human operations. A brief discussion highlighted our solution in comparison with rigid systems such as Apple's. The proposed architecture offers greater flexibility when working on variant inputs, combining robotic precision with human adaptability. The results confirm the potential of constraint-driven, voice-assisted collaborative systems as a scalable and sustainable solution for next-generation e-waste disassembly. Human Robot Collaboration Human Robot Interaction Phone Disassembly E-Waste Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7196317","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":498880494,"identity":"60d9648f-2c08-48d6-95cb-153ec1f2a657","order_by":0,"name":"Soufiane Ameur","email":"","orcid":"","institution":"ENSAM-C, Hassan II University","correspondingAuthor":false,"prefix":"","firstName":"Soufiane","middleName":"","lastName":"Ameur","suffix":""},{"id":498880495,"identity":"29d451b3-d83a-41c6-933b-6cfa3cd6f3d8","order_by":1,"name":"Mohamed Tabaa","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAArklEQVRIiWNgGAWjYJACZiCWAzEOEK0BpMWYdC2JDUQ7SreB/+Dnghq79H6x4w8PMObYEdZidoCZWXrGseTcmbNzDA4wbksmSguDNA8bc+6G2zkMQC3MxNnym+dffbr97fQHQC31RGlhk+ZtO5xgIJ0ActhhIrQcZjazntl33HDGbaBfErcdJ0LL8cbHtwu+Vcvzz05//OHjtmrCWhhQ/JtAhIZRMApGwSgYBUQAAGYlN3LuPHVuAAAAAElFTkSuQmCC","orcid":"","institution":"EMSI Casablanca","correspondingAuthor":true,"prefix":"","firstName":"Mohamed","middleName":"","lastName":"Tabaa","suffix":""},{"id":498880497,"identity":"fb26f20d-1fed-4407-bda4-c589c44fa10e","order_by":2,"name":"Kaouter Karboub","email":"","orcid":"","institution":"EMSI Casablanca","correspondingAuthor":false,"prefix":"","firstName":"Kaouter","middleName":"","lastName":"Karboub","suffix":""},{"id":498880498,"identity":"bbd567c1-541f-4991-9649-10c19bf5bd2b","order_by":3,"name":"Mohamed Hamlich","email":"","orcid":"","institution":"ENSAM-C, Hassan II University","correspondingAuthor":false,"prefix":"","firstName":"Mohamed","middleName":"","lastName":"Hamlich","suffix":""},{"id":498880499,"identity":"b1580e0a-6823-42d9-b9b7-b43c9c8492b1","order_by":4,"name":"Richard Bearee","email":"","orcid":"","institution":"LISPEN, Arts et Métiers Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Richard","middleName":"","lastName":"Bearee","suffix":""}],"badges":[],"createdAt":"2025-07-23 12:23:24","currentVersionCode":1,"declarations":{"humanSubjects":false,"vertebrateSubjects":false,"conflictsOfInterestStatement":false,"humanSubjectEthicalGuidelines":false,"humanSubjectConsent":false,"humanSubjectClinicalTrial":false,"humanSubjectCaseReport":false,"vertebrateSubjectEthicalGuidelines":false},"doi":"10.21203/rs.3.rs-7196317/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-7196317/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":92093014,"identity":"0b918e56-d481-4d7d-a4d0-5c8e13201422","added_by":"auto","created_at":"2025-09-24 14:02:16","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":2141535,"visible":true,"origin":"","legend":"","description":"","filename":"PaperSoufiane.pdf","url":"https://assets-eu.researchsquare.com/files/rs-7196317/v1_covered_e1e609eb-875f-4654-8fbc-925d338b9d0b.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Design and Simulation of an Interactive Human Robot Disassembly System for End of Life Phones","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Human Robot Collaboration, Human Robot Interaction, Phone Disassembly, E-Waste","lastPublishedDoi":"10.21203/rs.3.rs-7196317/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-7196317/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eWith the growing challenge of e-waste and end-of-life phones, a clear demand is required for efficient and scalable recycling solutions. This study proposes a realistic simulation of a collaborative robotic disassembly system that consists of six specialized stations designed for recycling and disassembling 100% of the end-of-life phone components. This study integrates human-robot collaboration (HRC) and human-robot interaction (HRI) using voice and gesture commands to enable adaptive task reassignment and real-time error correction with reduced downtime. This framework combines real-world simulation, RoboDK modeling, linear programming optimization, and HRC scenarios to assess system responsiveness. Over 30 operational and collaborative constraints were mathematically formulated. A total processing time of 955.37 seconds has been achieved in a test carried out on disassembling 10 phones with error rates ranging from 3.3\u0026ndash;4.1%. The hand-sign recognition module based on YOLOv12n accurately detected gestures with confidence scores in the range of 0.91 to 0.94, thus improving safety and non-verbal communication in HR centers. The execution of voice commands for actions such as \u0026ldquo;start\u0026rdquo; and \u0026ldquo;you take\u0026rdquo; showed inference times of 2.1 to 2.6 seconds, thus validating the feasibility of real-time HRI with two methods. With scenarios such as a human abandoning a task, a robot misclassifying a device or switching tasks based on screen conditions, HRC reduced downtime and improved task continuity by enabling robots to autonomously handle failed or delayed human operations. A brief discussion highlighted our solution in comparison with rigid systems such as Apple's. The proposed architecture offers greater flexibility when working on variant inputs, combining robotic precision with human adaptability. The results confirm the potential of constraint-driven, voice-assisted collaborative systems as a scalable and sustainable solution for next-generation e-waste disassembly.\u003c/p\u003e","manuscriptTitle":"Design and Simulation of an Interactive Human Robot Disassembly System for End of Life Phones","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2025-08-12 11:44:39","doi":"10.21203/rs.3.rs-7196317/v1","editorialEvents":[{"type":"communityComments","content":0}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"a407ca56-4a17-4cba-aaed-dc666e2e0e38","owner":[],"postedDate":"August 12th, 2025","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"posted","subjectAreas":[],"tags":[],"updatedAt":"2025-09-24T13:54:04+00:00","versionOfRecord":[],"versionCreatedAt":"2025-08-12 11:44:39","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-7196317","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-7196317","identity":"rs-7196317","version":["v1"]},"buildId":"8U1c8b4HqxoKbykW_rLl7","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}