Abstract
We present a method for arbitration between human and robot involvement in a collaborative physical task execution based on ergonomic metrics. The existing methods for ergonomic control of physical human-robot collaboration perform the real-Time arbitration primarily based on a single type of ergonomic metric. The novelty of our approach is twofold. First, the system enables real-Time arbitration based on combining two types of ergonomic metrics: preventive and reactive. Second, we use a preventive metric to prevent worker fatigue and discomfort due to overexertion in the future and a reactive metric to avoid immediate fatigue and discomfort. To this end, we considered two metrics respectively: human arm manipulability and muscle fatigue. The developed multi-metric arbitration method translates the human multi-metric state to a robot control level over a collaborative task execution using a finite state machine. We demonstrate the proposed method on a Kuka LWR iiwa robotic arm in a collaborative human-robot polishing task that requires a specific force production.
Original language | English |
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Title of host publication | Proceedings of the 9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2022 |
Publisher | IEEE |
Number of pages | 6 |
ISBN (Electronic) | 978-1-6654-5849-8 |
DOIs | |
Publication status | Published - 2022 |
Event | 9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2022 - Seoul, Korea, Republic of Duration: 21 Aug 2022 → 24 Aug 2022 |
Conference
Conference | 9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2022 |
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Country/Territory | Korea, Republic of |
City | Seoul |
Period | 21/08/22 → 24/08/22 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.