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Ergonomics and human comfort are essential concerns in physical human-robotinteraction applications. Defining an accurate and easy-to-use ergonomicassessment model stands as an important step in providing feedback for posturalcorrection to improve operator health and comfort. In order to enable efficientcomputation, previously proposed automated ergonomic assessment and correctiontools make approximations or simplifications to gold-standard assessment toolsused by ergonomists in practice. In order to retain assessment quality, whileimproving computational considerations, we introduce DULA, a differentiable andcontinuous ergonomics model learned to replicate the popular and scientificallyvalidated RULA assessment. We show that DULA provides assessment comparable toRULA while providing computational benefits. We highlight DULA's strength in ademonstration of gradient-based postural optimization for a simulatedteleoperation task.

DULA: A Differentiable Ergonomics Model for Postural Optimization in Physical HRI