Real-time Robot-assisted Ergonomics
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This paper describes a novel approach in human robot interaction driven by ergonomics. The new protocol optimises human-robot relative position and orientation based on human ergonomics. An RGB-D camera is used to calculate and monitor real-time human joint angles and to compute the current ergonomics state. The algorithmic framework identifies causes of discomfort and controls the cooperating robot to always adapt the environment (i.e. change the pose of a workpiece) in a way that is most comfortably operated on by the interacting user. The result is human-robot interaction that continuously re-evaluates and improves ergonomics states. The approach is validated through an experimental study, relying on established ergonomic methods.
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