Human Arm Posture Optimisation in Bilateral Teleoperation through Interface Reconfiguration

In this paper, we propose a method for improving the human operator's arm posture during bilateral teleoperation. The method is based on a musculoskeletal model that considers human operator's arm dynamics and the feedback force from the haptic interface (master), which is used to control a robotic arm (slave) in a remote environment. We...

A selective muscle fatigue management approach to ergonomic human-robot co-manipulation

In this paper, we propose a method for selective monitoring and management of human muscle fatigue in human-robot co-manipulation scenarios. The proposed approach uses a machine learning technique to learn the complex relationship between individual human muscle forces, arm configuration and arm endpoint force that are provided by a...