English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Ergonomics and human comfort are essential concerns in physical human-robotinteraction. Common practical methods in the area either fail in estimating thecorrect posture due to occlusion or suffer from inaccurate ergonomics models inperforming postural optimization. We propose a novel alternative framework forposture estimation, assessment, and optimization for ergonomically intelligentphysical human-robot interaction. We show that we can estimate human posturesolely from the trajectory of the interacting robot with median deviation of 5deg from motion capture. We propose DULA, a differentiable ergonomicsassessment tool with 99.73% accuracy comparing to RULA. We use DULA in posturaloptimization for physical human-robot interaction tasks such as co-manipulationand teleoperation. We evaluate our framework through human and simulationexperiments.

Ergonomically Intelligent Physical Human-Robot Interaction: Postural Estimation, Assessment, and Optimization