Robot Trajectory Adaptation to Optimise the Trade-off between Human Cognitive Ergonomics and Workplace Productivity in Collaborative Tasks
Marta Lagomarsino,Marta Lorenzini,Elena De Momi,Arash Ajoudani,Marta Lagomarsino,Marta Lorenzini,Elena De Momi,Arash Ajoudani
In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This paper proposes a novel human-robot interaction framework in which the robot behaviour is adapted online according to the operator's cognitive workload and stress. The method exploits the generation of B-spline trajectorie...
