Arbitration of Authority in Physical Human-Robot Collaboration with Combined Preventive and Reactive Fatigue Management

Alvaro Gil Andres, Niek Beckers, David A. Abbink, Luka Peternel*

*Corresponding author for this work

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

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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 languageEnglish
Title of host publicationProceedings of the 9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2022
PublisherIEEE
Number of pages6
ISBN (Electronic)978-1-6654-5849-8
DOIs
Publication statusPublished - 2022
Event9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2022 - Seoul, Korea, Republic of
Duration: 21 Aug 202224 Aug 2022

Conference

Conference9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2022
Country/TerritoryKorea, Republic of
CitySeoul
Period21/08/2224/08/22

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-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.

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