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There has been increasing awareness of the difficulties in reaching andextracting people from mass casualty scenarios, such as those arising fromnatural disasters. While platforms have been designed to consider reachingcasualties and even carrying them out of harm's way, the challenge ofrepositioning a casualty from its found configuration to one suitable forextraction has not been explicitly explored. Furthermore, this planning problemneeds to incorporate biomechanical safety considerations for the casualty.Thus, we present a first solution to biomechanically safe trajectory generationfor repositioning limbs of unconscious human casualties. We describebiomechanical safety as mathematical constraints, mechanical descriptions ofthe dynamics for the robot-human coupled system, and the planning andtrajectory optimization process that considers this coupled and constrainedsystem. We finally evaluate our approach over several variations of the problemand demonstrate it on a real robot and human subject. This work provides acrucial part of search and rescue that can be used in conjunction with past andpresent works involving robots and vision systems designed for search andrescue.

Finding Biomechanically Safe Trajectories for Robot Manipulation of the Human Body in a Search and Rescue Scenario