Planning Ergonomic Sequences of Actions in Human-Robot Interaction

Busch, Baptiste; Toussaint, Marc; Lopes, Manuel

doi:10.1109/icra.2018.8462927

Cited by 36 publications

(40 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…When addressing manipulability over the human workspace, self-collision plays an important part which is often neglected in the human-informed movement performance [5], [15] and control and planning [2], [11], [21] literature. Regardless of the muscular-to-force generation capability, our assumption is that humans restrain their actions when close to head or body.…”

Section: Extended Analysis: Collision Penalizationmentioning

confidence: 99%

“…Also, notice the usage of comfortability information leads to results close to GO 1 with considerable improvement in assessment time. For instance, taking the grasp-informed 6 Ergonomics is optimized with a surrogate functions over the discrete values with additional multistart points to better address the stepwise REBA function, yet the use of a differentiable adaptation of REBA values, see e.g., [11], can lead to improved results in terms of time (same order of magnitude as the ones from the proposed method).…”

Section: B Task Performance Evaluationmentioning

confidence: 99%

“…In contrast to muscular-informed methods, standard ergonomics concepts like RULA (rapid upper limb assessment, see [9]) and REBA (rapid entire body assessment, see [10]) were designed to quickly and easily assess human posture and have been used in industrial scenarios for decades. Recently, these methods have also been extended to different robotics applications, e.g., task-planning [11].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Human Comfortability: Integrating Ergonomics and Muscular-Informed Metrics for Manipulability Analysis During Human-Robot Collaboration

Figueredo

Aguiar

Chen

et al. 2021

IEEE Robot. Autom. Lett.

View full text Add to dashboard Cite

Section: Extended Analysis: Collision Penalizationmentioning

confidence: 99%

Section: B Task Performance Evaluationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Human Comfortability: Integrating Ergonomics and Muscular-Informed Metrics for Manipulability Analysis During Human-Robot Collaboration

Figueredo

Aguiar

Chen

et al. 2021

IEEE Robot. Autom. Lett.

View full text Add to dashboard Cite

“…Usually, manufacturers seek to assign tiresome or dangerous tasks (e.g., tasks requiring twisting or lateral forces) to robots (Argote et al, 1983;Akella et al, 1999). The existing approaches to improve ergonomics seek to reduce the muscle fatigue (Peternel et al, 2018), decrease the workforce overloading (Kim et al, 2017;Peternel et al, 2017;Wansoo et al, 2019), ensure comfortable workforce posture (Busch et al, 2017(Busch et al, , 2018, minimize the workers' physical strain (Pearce et al, 2018).…”

Section: Ergonomicsmentioning

confidence: 99%

Operations management issues in design and control of hybrid human-robot collaborative manufacturing systems: a survey

Hashemi-Petroodi

Thevenin

Kovalev

et al. 2020

Annual Reviews in Control

View full text Add to dashboard Cite

A manufacturing system able to perform a high variety of tasks requires different types of resources. Fully automated systems using robots possess high speed, accuracy, tirelessness, and force, but they are expensive. On the other hand, human workers are intelligent, creative, flexible, and able to work with different tools in different situations. A combination of these resources forms a human-machine/robot (hybrid) system, where humans and robots perform a variety of tasks (manual, automated, and hybrid tasks) in a shared workspace. Contrarily to the existing surveys, this study is dedicated to operations management problems (focusing on the applications and features) for human and machine/robot collaborative systems in manufacturing. This research is divided into two types of interactions between human and automated components in manufacturing and assembly systems: dual resource constrained (DRC) and human-robot collaboration (HRC) optimization problems. Moreover, different characteristics of the workforce and machines/robots such as heterogeneity, homogeneity, and ergonomics are introduced. Finally, this paper identifies the optimization challenges and problems for hybrid systems. The existing literature on HRC focuses mainly on the robotic point of view and not on the operations management and optimization aspects. Therefore, the future research directions include the design of models and methods to optimize HRC systems in terms of ergonomics, safety, and throughput. In addition, studying flexibility and reconfigurability in hybrid systems is one of the main research avenues for future research.

show abstract

“…The excel works of Peternel et al [17], [18] should also be mentioned for addressing important topics in forceful HRC related to this work such as human ergonomics during forceful control cooperations and hand-over, where joint torques are taken into account through an offline identification technique but, still without proper knowledge on muscular activity-as well as safety perception and grasp stability. Similar problem has also been addressed in [19] but considering an industrial ergonomic assessment based on payload mass and kinematics alone. Indeed, despite the advances and contributions aforementioned, HRC still lacks efficient metrics for planning comfortable human-robot forceful collaborations explicitly considering muscular activation levels and human comfort perception, and planning object grasps and positioning.…”

Section: Related Workmentioning

confidence: 99%

Planning for Muscular and Peripersonal-Space Comfort During Human-Robot Forceful Collaboration

Chen

Figueredo

Dogar

2018

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

View full text Add to dashboard Cite

This work has been accepted and will appear in the 2018 IEEE-RAS International Conference on Humanoid Robots (HUMANOID 2018).This paper presents a planning algorithm designed to improve cooperative robot behaviour concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and positioning ensuring not only stability against the exerted human force but also empowering the robot with capabilities to address and improve human experience and comfort. Herein, comfort is addressed as both the muscular activation level required to exert the cooperative task, and the human spatial perception during the interaction, namely, the peripersonal space. By maximizing both comfort criteria, the robotic system can plan for the task (ensuring grasp stability) and for the human (improving human comfort). We believe this to be a key element to achieve intuitive and fluid human-robot interaction in real applications. Real HRI drilling and cutting experiments illustrated the efficiency of the proposed planner in improving overall comfort and HRI experience without compromising grasp stability. * First two authors contributed equally to this work.

show abstract

Planning Ergonomic Sequences of Actions in Human-Robot Interaction

Cited by 36 publications

References 14 publications

Human Comfortability: Integrating Ergonomics and Muscular-Informed Metrics for Manipulability Analysis During Human-Robot Collaboration

Human Comfortability: Integrating Ergonomics and Muscular-Informed Metrics for Manipulability Analysis During Human-Robot Collaboration

Operations management issues in design and control of hybrid human-robot collaborative manufacturing systems: a survey

Planning for Muscular and Peripersonal-Space Comfort During Human-Robot Forceful Collaboration

Contact Info

Product

Resources

About