Robot adaptation to human physical fatigue in human–robot co-manipulation

Peternel, Luka; Tsagarakis, Nikos G.; Caldwell, Darwin G.; Ajoudani, Arash

doi:10.1007/s10514-017-9678-1

Cited by 122 publications

(93 citation statements)

References 39 publications

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“…Finally, SoftPro is featuring "red label" investigations and developments, where the project is undertaking higher risks testing disruptively new hypotheses and paradigms. These include the attempt to estimate from autonomic nervous system signals, subtle but important information such as stress and/or fatigue [11]; and pioneering the idea of using robotic extra limbs [12] for assistance to persons with chronic motor impairments.…”

Section: Resultsmentioning

confidence: 99%

The SoftPro Project: Synergy-Based Open-Source Technologies for Prosthetics and Rehabilitation

Piazza

Catalano

Bianchi

et al. 2018

Biosystems &Amp; Biorobotics

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Robotics-enabled technologies for assistive and rehabilitative applications have gained an increasing attention, both in academic and industrial research settings, as a promising solution for human sensory-motor system recovery. However, many constraints remain that limit their effective employment in everyday-life, mainly related to cost, usability and users' acceptance. The Softpro project proposes to completely reverse such paradigm, starting from the analysis of the needs from patients and the careful investigation of the sensory-motor human behaviour, capitalizing on the framework of synergistic control and soft robotics. The final goal is to study and design simple, effective and affordable soft synergy-based robotic technologies for the upper limb, such as new prostheses, exoskeletons, and assistive devices which can be useful and accessible to a wide audience of users. To pursue such an ambitious objective, SoftPro has put together research groups who laid the neuroscientific and technological fundamentals underpinning the project approach, a net of international collaborations and numerous and qualified industrial partners, which is expected to produce a strong impact on both research and innovation.

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Section: Resultsmentioning

confidence: 99%

The SoftPro Project: Synergy-Based Open-Source Technologies for Prosthetics and Rehabilitation

Piazza

Catalano

Bianchi

et al. 2018

Biosystems &Amp; Biorobotics

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“…Some recent works presented cases in which robots adapted their behavior based on the physical interaction between humans and robots. Peternel et al [16] proposed to estimate human fatigue to adapt how much a robot is helping in human-robot collaborative manipulation tasks: sawing and surface polishing. Rozo et al [17] proposed a framework for a user to teach a robot collaborative skills from demonstrations.…”

Section: Related Workmentioning

confidence: 99%

On Inferring Intentions in Shared Tasks for Industrial Collaborative Robots

2019

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Inferring human operators’ actions in shared collaborative tasks plays a crucial role in enhancing the cognitive capabilities of industrial robots. In all these incipient collaborative robotic applications, humans and robots not only should share space, but also forces and the execution of a task. In this article, we present a robotic system that is able to identify different human’s intentions and to adapt its behavior consequently, only employing force data. In order to accomplish this aim, three major contributions are presented: (a) a force based operator’s intention recognition system based on data from only two users; (b) a force based dataset of physical human–robot interaction; and (c) validation of the whole system with 15 people in a scenario inspired by a realistic industrial application. This work is an important step towards a more natural and user-friendly manner of physical human–robot interaction in scenarios where humans and robots collaborate in the accomplishment of a task.

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“…On the other hand, it has been demonstrated that significant biochemical and physiological changes in fatigued muscles can be detected by analysing surface electromyography (sEMG) signals [9], [10]. A large portion of these works has focused on quantifying muscle fatigue in isometric contractions, with the extension to dynamic cases only during the last decade [11], [12]. Nevertheless, the use of sEMG presents several drawbacks.…”

Section: Introductionmentioning

confidence: 99%

A New Overloading Fatigue Model for Ergonomic Risk Assessment with Application to Human-Robot Collaboration

Lorenzini

Kim

Momi

et al. 2019

2019 International Conference on Robotics and Automation (ICRA)

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Among the numerous risk factors associated to work-related musculoskeletal disorders (WMSD), repetitive and monotonous movements with light-weight tools are one of the most frequently cited. Such tasks may indeed result in the excessive accumulation of local muscle fatigue, causing severe injuries in human joints. Accordingly, this paper proposes a new whole-body fatigue model to evaluate the cumulative effect of the overloading torque induced on the joints over time by light payloads. The proposed model is then integrated into a human-robot collaboration (HRC) framework to set the timing of a body posture optimisation procedure guided by the robot assistance, by the time fatigue overcomes a threshold in any joint. Our overloading fatigue model is based on an estimation method we developed in a previous work, to monitor joint torque variations due to external forces in real-time. To account for individuals' different perception of fatigue, the fatigue ratio parameter in the model is computed experimentally for each subject. The proposed model is first studied on ten subjects by means of an electromyography analysis. Next, its performance is assessed in a painting task and finally evaluated within the HRC framework, which is proved to be able to reduce the risk of injuries caused by excessive fatigue accumulation.

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Robot adaptation to human physical fatigue in human–robot co-manipulation

Cited by 122 publications

References 39 publications

The SoftPro Project: Synergy-Based Open-Source Technologies for Prosthetics and Rehabilitation

The SoftPro Project: Synergy-Based Open-Source Technologies for Prosthetics and Rehabilitation

On Inferring Intentions in Shared Tasks for Industrial Collaborative Robots

A New Overloading Fatigue Model for Ergonomic Risk Assessment with Application to Human-Robot Collaboration

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