Predicting and Optimizing Ergonomics in Physical Human-Robot Cooperation Tasks
Linda van der Spaa,Michael Gienger,Tamas Bates,Jens Kober,Linda van der Spaa,Michael Gienger,Tamas Bates,Jens Kober
This paper presents a method to incorporate ergonomics into the optimization of action sequences for bi-manual human-robot cooperation tasks with continuous physical interaction. Our first contribution is a novel computational model of the human that allows prediction of an ergonomics assessment corresponding to each step in a task. The model is learned from human motion capture data in order to p...
