• Corpus ID: 237048216

Ergonomically Intelligent Physical Human-Robot Interaction: Postural Estimation, Assessment, and Optimization

  title={Ergonomically Intelligent Physical Human-Robot Interaction: Postural Estimation, Assessment, and Optimization},
  author={A. Yazdani and Roya Sabbagh Novin and Andrew S. Merryweather and Tucker Hermans},
Ergonomics and human comfort are essential concerns in physical human-robot interaction applications, and common practical methods either fail in estimating the correct posture due to occlusion or suffer from less accurate ergonomics models in their postural optimization methods. Instead, we propose a novel framework for posture estimation, assessment, and optimization for ergonomically intelligent physical human-robot interaction. We show that we can estimate human posture solely from the… 

Figures and Tables from this paper


Data-Driven Approach to Simulating Realistic Human Joint Constraints
  • Yifeng Jiang, C. K. Liu
  • Computer Science, Engineering
    2018 IEEE International Conference on Robotics and Automation (ICRA)
  • 2018
A new technique to accurately simulate human joint limits in physics simulation is introduced to learn an implicit equation to represent the boundary of valid human joint configurations from real human data.
Postural optimization for an ergonomic human-robot interaction
This paper uses postural assessment techniques, and a personalized human kinematic model, to optimize the model body posture to fulfill a task while avoiding uncomfortable or unsafe postures, and derives a robotic behavior that leads the worker towards that improved posture.
Collaborative Robots and Industrial Revolution 4.0 (IR 4.0)
Human-Robot Interaction between humans and collaborative robots provides promising methods to achieve increased productivity with reduced production costs by combining the decision-making ability of humans along with the repeatability and strength of robots.
Anticipatory Robot Assistance for the Prevention of Human Static Joint Overloading in Human–Robot Collaboration
This letter proposes a novel human–robot collaboration (HRC) control approach to alert and reduce the static joint torque overloading of a human partner while executing shared tasks with a robot.
Planning Ergonomic Sequences of Actions in Human-Robot Interaction
In this paper, we define the problem of human-robot collaboration as a combined task and motion planning problem which is extended to the multi-agent case (human and robot). Our proposed approach
Towards ergonomie control of human-robot co-manipulation and handover
The proposed method is successful in achieving the ergonomie conditions for the human during the eollaboration and the main advantage of this approaeh is that the robot could potentially help to reduee the work-related strain and increase the productivity of the human eo-worker.
Human-machine-interaction in the industry 4.0 era
Solutions for the technological assistance of workers are demonstrated, which implement the representation of a cyber-physical world and the therein occurring interactions in the form of intelligent user interfaces, which will create the required, inter-disciplinary understanding for Industry 4.0.
Numerical Optimization
no exception. MRP II and JIT=TQC in purchasing and supplier education are covered in Chapter 15. Without proper education MRP II and JIT=TQC will not be successful and will not generate their true
Rapid entire body assessment (REBA).
This technical note details the preliminary stage in the development of a postural analysis tool, Rapid Entire Body Assessment, specifically designed to be sensitive to the type of unpredictable working postures found in health care and other service industries.
DULA: A Differentiable Ergonomics Model for Postural Optimization in Physical HRI
DULA, a differentiable and continuous ergonomics model learned to replicate the popular and scientifically validated RULA assessment, is introduced and it is shown that DULA provides assessment comparable to RulA while providing computational benefits.