相关论文: Ergonomically Intelligent Physical Human-Robot Int…
Ergonomics and human comfort are essential concerns in physical human-robot interaction applications. Defining an accurate and easy-to-use ergonomic assessment model stands as an important step in providing feedback for postural correction…
Ergonomics and human comfort are essential concerns in physical human-robot interaction applications. Defining an accurate and easy-to-use ergonomic assessment model stands as an important step in providing feedback for postural correction…
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…
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…
This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate…
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…
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…
This study presents ME-WARD (Multimodal Ergonomic Workplace Assessment and Risk from Data), a novel system for ergonomic assessment and musculoskeletal risk evaluation that implements the Rapid Upper Limb Assessment (RULA) method. ME-WARD…
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…
For soft robots to work effectively in human-centered environments, they need to be able to estimate their state and external interactions based on (proprioceptive) sensors. Estimating disturbances allows a soft robot to perform desirable…
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…
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…
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…
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…
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…
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…
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…
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…
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…