Related papers: Real-time Robot-assisted Ergonomics
In collaborative tasks where humans work alongside machines, the robot's movements and behaviour can have a significant impact on the operator's safety, health, and comfort. To address this issue, we present a multi-stereo camera system…
Despite cobots have high potential in bringing several benefits in the manufacturing and logistic processes, but their rapid (re-)deployment in changing environments is still limited. To enable fast adaptation to new product demands and to…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
When a human and a humanoid robot collaborate physically, ergonomics is a key factor to consider. Assuming a given humanoid robot, several control architectures exist nowadays to address ergonomic physical human-robot collaboration. This…
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…
Ergonomics and human comfort are essential concerns in physical human-robot interaction. Common practical methods in the area either fail in estimating the correct posture due to occlusion or suffer from inaccurate ergonomics models in…
Ergonomics is a key factor to consider when designing control architectures for effective physical collaborations between humans and humanoid robots. In contrast, ergonomic indexes are often overlooked in the robot design phase, which leads…
Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online and quantitative framework to assess the cognitive workload…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
{Recognizing human interactions is essential for social robots as it enables them to navigate safely and naturally in shared environments. Conventional robotic systems however often focus on obstacle avoidance, neglecting social cues…
Robotic vision for human-robot interaction and collaboration is a critical process for robots to collect and interpret detailed information related to human actions, goals, and preferences, enabling robots to provide more useful services to…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
The high prevalence of work-related musculoskeletal disorders (WMSDs) could be addressed by optimizing Human-Robot Collaboration (HRC) frameworks for manufacturing applications. In this context, this paper proposes two hypotheses for…
Human-robot collaboration (HRC) introduces significant safety challenges, particularly in protecting human operators working alongside collaborative robots (cobots). While current ISO standards emphasize risk assessment and hazard…
This paper presents the design and development of a robotic system to give physical assistance to the elderly or people with neurological disorders such as Ataxia or Parkinson's. In particular, we propose using a mobile collaborative robot…
Robots can serve as safety catalysts on construction job sites by taking over hazardous and repetitive tasks while alleviating the risks associated with existing manual workflows. Research on the safety of physical human-robot interaction…