Postural Optimization for an Ergonomic Human-Robot Interaction

Abstract : In human-robot collaboration the robot's behavior impacts the worker's safety, comfort and acceptance of the robotic system. In this paper we address the problem of how to improve the worker's posture during human-robot collaboration. Using postural assessment techniques, and a personalized human kinematic model, we optimize the model body posture to fulfill a task while avoiding uncomfortable or unsafe postures. We then derive a robotic behavior that leads the worker towards that improved posture. We validate our approach in an experiment involving a joint task with 39 human subjects and a Baxter torso-humanoid robot.
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https://hal.archives-ouvertes.fr/hal-01629426
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Submitted on : Monday, November 6, 2017 - 2:17:00 PM
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Baptiste Busch, Guilherme Maeda, Yoan Mollard, Marie Demangeat, Manuel Lopes. Postural Optimization for an Ergonomic Human-Robot Interaction. IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. pp.1-8. ⟨hal-01629426⟩

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