Shared Control of Robot-Robot Collaborative Lifting with Agent Postural and Force Ergonomic Optimization

DULA and DEBA: Differentiable Ergonomic Risk Models for Postural Assessment and Optimization in Ergonomically Intelligent pHRI

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 to improve operator health and comfort. Common practical methods in the area suffer from inaccurate ergonomics models in performing postural optimization. In order to retain assessment quality, while improving computational considerations, we propose a novel framework for postural assessment and optimization for ergonomically intelligent physical human-robot…

DULA: A Differentiable Ergonomics Model for Postural Optimization in Physical HRI

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 to improve operator health and comfort. In order to enable efficient computation, previously proposed automated ergonomic assessment and correction tools make approximations or simplifications to gold-standard assessment tools used by ergonomists in practice. In order to retain assessment quality, while improving computational considerations, we introduce DU…

Ergonomically Intelligent Physical Human-Robot Interaction: Postural Estimation, Assessment, and Optimization

Ergonomics and human comfort are essential concerns in physical human-robot interaction. Common practical methods in the area either fail in estimating the correct posture due to occlusion or suffer from inaccurate ergonomics models in performing postural optimization. We propose a novel alternative framework for posture estimation, assessment, and optimization for ergonomically intelligent physical human-robot interaction. We show that we can estimate human posture solely from the trajectory of the interacting robot with median deviation of 5 deg from motion capture. We propose DULA, a differ…

姿态虚拟障碍物用于人机交互中的人体工程学物理互动

Postural Virtual Fixtures for Ergonomic Physical Interactions with Supernumerary Robotic Bodies

本文提出一种基于虚拟障碍物的人体工程学控制框架，通过触觉反馈促进用户形成正确的物理交互姿势。

在双臂人机协作中整合人体工程学与可操纵性以实现上肢姿态优化

Integrating Ergonomics and Manipulability for Upper Limb Postural Optimization in Bimanual Human-Robot Collaboration

本文提出一种整合人体工程学与力可操纵性的上肢姿态优化方法，并结合双臂模型预测阻抗控制器引导人类调整姿态，在双臂人机协同搬运任务中显著改善肌肉状态。

A Directional Vibrotactile Feedback Interface for Ergonomic Postural Adjustment

The objective of this paper is to develop and evaluate a directional vibrotactile feedback interface as a guidance tool for postural adjustments during work. In contrast to the existing active and wearable systems such as exoskeletons, we aim to create a lightweight and intuitive interface, capable of guiding its wearers towards more ergonomic and healthy working conditions. To achieve this, a vibrotactile device called ErgoTac is employed to develop three different feedback modalities that are able to provide a directional guidance at the body segments towards a desired pose. In addition, an …