Multi-objective Trajectory Optimization to Improve Ergonomics in Human Motion
| Autor: | Waldez Gomes, Eloïse Dalin, Jean-Baptiste Mouret, Serena Ivaldi, Pauline Maurice |
|---|---|
| Přispěvatelé: | Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment (LARSEN), Inria Nancy - Grand Est, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Department of Complex Systems, Artificial Intelligence & Robotics (LORIA - AIS), Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL), This work was supported by the European Union’s Horizon 2020 Research and Innovation Programme under Grant Agreement N° 731540 (projectAnDy)., European Project: 731540,H2020,An.Dy(2017), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Laboratoire Lorrain de Recherche en Informatique et ses Applications (LORIA), Institut National de Recherche en Informatique et en Automatique (Inria)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS)-Université de Lorraine (UL)-Centre National de la Recherche Scientifique (CNRS), This work was partially supported by European Union's H2020 Research and Innovation Programme under Grant Agreement No. 731540 (Project AnDy), and by French Research Agency (ANR) under Grant No. ANR-20-CE33-0004 (project ROOIBOS), ANR-20-CE33-0004,ROOIBOS,Robotique Collaborative et Ergonomie : Adaptation du Mouvement Centrée sur l'Utilisateur(2020) |
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Control and Optimization
Computer science Biomedical Engineering [SCCO.COMP]Cognitive science/Computer science Kinematics modeling and simulating humans Machine learning computer.software_genre Motion (physics) [SPI]Engineering Sciences [physics] Artificial Intelligence human and humanoid motion analysis and synthesis business.industry Mechanical Engineering Human factors and ergonomics Trajectory optimization Human body Human motion Computer Science Applications Human-Computer Interaction Control and Systems Engineering Robot Computer Vision and Pattern Recognition Artificial intelligence [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC] Human factors and human-in-the-loop business computer |
| Zdroj: | IEEE Robotics and Automation Letters IEEE Robotics and Automation Letters, 2022, 7 (1), pp.342-349. ⟨10.1109/LRA.2021.3125058⟩ IEEE Robotics and Automation Letters, IEEE In press IEEE Robotics and Automation Letters, IEEE 2021 |
| ISSN: | 2377-3766 |
| DOI: | 10.1109/LRA.2021.3125058⟩ |
| Popis: | Work-related musculoskeletal disorders are a majorhealth issue often caused by awkward postures. Identifyingand recommending more ergonomic body postures requiresoptimizing the worker’s motion with respect to ergonomicscriteria based on the human kinematic/kinetic state. However,many ergonomics scores assess different risks at different placesof the human body, and therefore, optimizing for only onescore might lead to postures that are either inefficient or thattransfer the risk to a different location. We verified, in two workactivities, that optimizing for a single ergonomics score maylead to motions that degrade scores other than the optimizedone. To address this problem, we propose a multi-objectiveoptimization approach that can find better Pareto-optimal trade-off motions that simultaneously optimize multiple scores. Oursimulation-based approach is also user-specific and can be usedto recommend ergonomic postures to workers with differentbody morphologies. Additionally, it can be used to generateergonomic reference trajectories for robot controllers in human-robot collaboration. |
| Databáze: | OpenAIRE |
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