Related papers: Real-time Robot-assisted Ergonomics
Industrial robots become increasingly prevalent, resulting in a growing need for intuitive, comforting human-robot collaboration. We present a user-aware robotic system that adapts to operator behavior in real time while non-intrusively…
This paper presents a novel framework for real-time human action recognition in industrial contexts, using standard 2D cameras. We introduce a complete pipeline for robust and real-time estimation of human joint kinematics, input to a…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
3D posture estimation is important in analyzing and improving ergonomics in physical human-robot interaction and reducing the risk of musculoskeletal disorders. Vision-based posture estimation approaches are prone to sensor and model…
In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This paper proposes a novel human-robot interaction framework in…
The raise of collaborative robotics has led to wide range of sensor technologies to detect human-machine interactions: at short distances, proximity sensors detect nontactile gestures virtually occlusion-free, while at medium distances,…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
In this paper, we propose a method to determine the 3D relative pose of pairs of communicating robots by using human pose-based key-points as correspondences. We adopt a 'leader-follower' framework, where at first, the leader robot visually…
Quadruped robots are showing impressive abilities to navigate the real world. If they are to become more integrated into society, social trust in interactions with humans will become increasingly important. Additionally, robots will need to…
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…
Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
Ergonomic assessment of human posture plays a vital role in understanding work-related safety and health. Current posture estimation approaches face occlusion challenges in teleoperation and physical human-robot interaction. We investigate…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…
Robots are increasingly present in our lives, sharing the workspace and tasks with human co-workers. However, existing interfaces for human-robot interaction / cooperation (HRI/C) have limited levels of intuitiveness to use and safety is a…
When the human-robot interactions become ubiquitous, the environment surrounding these interactions will have significant impact on the safety and comfort of the human and the effectiveness and efficiency of the robot. Although most robots…
It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…