Postural Optimization for an Ergonomic Human-Robot Interaction - Archive ouverte HAL Access content directly
Conference Papers Year : 2017

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.
Fichier principal
Vignette du fichier
iros2017_final.pdf (2.53 Mo) Télécharger le fichier
Origin Files produced by the author(s)
Loading...

Dates and versions

hal-01629426 , version 1 (06-11-2017)

Identifiers

  • HAL Id : hal-01629426 , version 1

Cite

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⟩
175 View
736 Download

Share

Gmail Mastodon Facebook X LinkedIn More