Figueredo, LFC, Castro Aguiar, R, Chen, L et al. (3 more authors) (2021) Human Comfortability: Integrating Ergonomics and Muscular-Informed Metrics for Manipulability Analysis During Human-Robot Collaboration. IEEE Robotics and Automation Letters, 6 (2). pp. 351-358. ISSN 2377-3766
Abstract
The ability to compute a quality index for manipulation tasks, in different configurations, has been widely used in robotics. However, it is poorly explored in human manipulation and physical human-robot collaboration (pHRC). Existing works that evaluate efficiency of human manipulation often focus only on heurisitic-based, biomechanics or ergonomics methods/tasks. Complementarity between these performance features allows for a better evaluation and more general criteria, applicable across tasks. This letter addressess this gap by generating a new metric that combines offline pre-computation of biomechanics, ergonomics, muscle assessment and joint constraints, and reducing the online time complexity, enhancing the response query time. The proposed solution allow us to build a quality distribution in the human's workspace which can be quickly tailored to specific tasks and filtered for design purposes. This method simplifies human manipulability assessment for both general and task-specific applications and, in contrast to existing works, is suitable for real-time and/or resource-limited applications. Numerical evidence shows the proposed analysis greatly outperforms previous results in terms of computing time without compromising performance.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Human-centered robotics, human factors and human-in-the-loop, physical human-robot interaction |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) The University of Leeds > Faculty of Biological Sciences (Leeds) > School of Biomedical Sciences (Leeds) |
Funding Information: | Funder Grant number EU - European Union 825619 EPSRC (Engineering and Physical Sciences Research Council) EP/P019560/1 EU - European Union 746143 EU - European Union 795714 Alan Turing Institute No ref given |
Depositing User: | Symplectic Publications |
Date Deposited: | 30 Nov 2020 12:24 |
Last Modified: | 14 Apr 2021 14:36 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Identification Number: | 10.1109/LRA.2020.3043173 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:168505 |