A Framework for Real-time and Personalisable Human Ergonomics Monitoring

Abstract

The objective of this paper is to present a personalisable human ergonomics framework that integrates a method for real-time identification of a human model and an ergonomics monitoring function. The human model is based on a floating base structure and on a Statically Equivalent Serial Chain (SESC) model used for the estimation of the whole-body centre of Mass (CoM). A recursive linear regression algorithm (i.e., Kalman filter) is developed to achieve the online identification of the SESC parameters. A visual feedback provides a minimum set of suggested human poses to speed up the identification process, while enhancing the model accuracy based on a convergence value. The online ergonomics monitoring function computes and displays the overloading effects on body joints in heavy lifting tasks. The overloading joint torques are calculated based on the displacement of the Center of Pressure (CoP) between the measured one and the estimated one. Unlike our previous work, the entire process, from the model identification (personalisation) to ergonomics monitoring, is performed in real-time. We evaluated the efficacy of the proposed method through human experiments during model identification and load lifting tasks. Results demonstrate the high exploitation potential of the framework in industrial settings, due to its fast personalisation and ergonomics monitoring capacity.

Modalities of sequential human robot collaboration trigger different modifications of trunk oscillations

“…Different ways of measuring or controlling ergonomics-related parameters during work activities have been developed during the recent years from methods for the simulation of ergonomic parameters (Greco et al, 2020 ) to wearable solutions for real-time monitoring (Cheng et al, 2013 ; Ranavolo et al, 2018 ; Fortini et al, 2020 ). In this scenario, wearable technologies represent an important solution due to their straightforward applicability for real-time monitoring of workers' ergonomic assessment (Tsao et al, 2019 ; Meltzer et al, 2020 ) and ergonomics training (Lind et al, 2020 ).…”

Industrial exoskeletons from bench to field: Human-machine interface and user experience in occupational settings and tasks

“…At the same time, they enable qualification profiles to be drawn up for the assignment of physically impaired employees in line with their abilities and minding principles based also on the WHO International Classification of Functioning, Disability and Health (ICF) (17). Also, innovative solutions are provided by Human-Robot Cooperation (HRC) and the possibility to equip employees with wearable computing systems and devices in production facilities (18)(19)(20)(21)(22)(23)(24). In this scenario, the exoskeletons undoubtedly represent the state-of-the-art technological evolution made available to health and safety, providing useful opportunities also in the framework of Industry 4.0 and human-machine cooperation (25).…”