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

Conference Paper (2022)
Author(s)

Alvaro Gil Andres (Student TU Delft)

N.W.M. Beckers (TU Delft - Human-Robot Interaction)

D. Abbink (TU Delft - Human-Robot Interaction)

Luka Peternel (TU Delft - Human-Robot Interaction)

Research Group
Human-Robot Interaction
Copyright
© 2022 Alvaro Gil Andres, N.W.M. Beckers, D.A. Abbink, L. Peternel
DOI related publication
https://doi.org/10.1109/BioRob52689.2022.9925288
More Info
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Publication Year
2022
Language
English
Copyright
© 2022 Alvaro Gil Andres, N.W.M. Beckers, D.A. Abbink, L. Peternel
Research Group
Human-Robot Interaction
ISBN (electronic)
978-1-6654-5849-8
Reuse Rights

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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.

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