A Multi-Modal Feedback Communication Interface for Human Working Posture Adjustments

Kushal Thirani, David A. Abbink, Luka Peternel*

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review


This paper studies non-physical feedback mechanisms to guide human workers toward ergonomic body postures. Specifically, the focus is to solve the tasks that involve no direct physical interaction between the human and the robotic system, therefore tactile guidance by the robot body is not feasible. We propose a multi-modal ergonomic posture guidance system that comprises visual feedback and speech-based audio feedback. We hypothesise that the proposed multi-modal system leads to better performance compared to uni-modal feedback systems when trying to guide users from one pose to another. To test the hypothesis we conducted an experiment that compared conditions with only audio feedback, only visual feedback and multi-modal feedback. In addition, we examined speech-based audio guidance in joint space and in endpoint space. The results showed that the speech-based feedback in joint space came out as the preferred audio feedback due to its ability to allow users to carry out efficient and coordinated inter-joint movements, especially in cases of high redundancy. Furthermore, the proposed multi-modal feedback system was superior compared to the other feedback modalities both in terms of objective measures and subjective measures.

Original languageEnglish
Title of host publicationHuman-Friendly Robotics 2022 - HFR
Subtitle of host publicationProceedings of the 15th International Workshop on Human-Friendly Robotics
EditorsPablo Borja, Cosimo Della Santina, Luka Peternel, Elena Torta
ISBN (Electronic)978-3-031-22731-8
ISBN (Print)978-3-031-22730-1
Publication statusPublished - 2023
Event15th International Workshop on Human-Friendly Robotics, HFR 2022 - Delft, Netherlands
Duration: 22 Sep 202223 Sep 2022

Publication series

NameSpringer Proceedings in Advanced Robotics
ISSN (Print)2511-1256
ISSN (Electronic)2511-1264


Conference15th International Workshop on Human-Friendly Robotics, HFR 2022

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-care
Otherwise 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.


  • Audio feedback
  • Ergonomics
  • Human factors
  • Human-machine interaction
  • Visual feedback


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