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Optimizing Contextual Ergonomics Models in Human-Robot Interaction

Gonzales Marin, Antonio and Shourijeh, Mohammad S. and Galibarov, Pavel E. and Damsgaard, Michael and Fritzsche, Lars and Stulp, Freek (2018) Optimizing Contextual Ergonomics Models in Human-Robot Interaction. In: IEEE International Conference on Intelligent Robots and Systems. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Madrid, Spain.

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Abstract

Current ergonomic assessment procedures require observation and manual annotation of postures by an expert, after which ergonomic scores are inferred from these annotations. Our aim is to automate this procedure, and to enable robots to optimize their behavior with respect to such scores. A particular challenge is that ergonomic scoring requires accurate biomechanical simulations which are computationally too expensive to use in robot control loops or optimization. To address this, we learn Contextual Ergonomics Models, which are Gaussian Process Latent Variable Models which have been trained with full musculoskeletal simulations for specific tasks contexts. Contextual Ergonomics Models enable search in a low-dimensional latent space, whilst the cost function can be defined in terms of the full high-dimensional musculoskeletal model, which can be quickly reconstructed from the latent space. We demonstrate how optimizing Contextual Ergonomics Models leads to significantly reduced muscle activation in an experiment with eight subjects performing a drilling task.

Item URL in elib:https://elib.dlr.de/126303/
Document Type:Conference or Workshop Item (Poster)
Title:Optimizing Contextual Ergonomics Models in Human-Robot Interaction
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Gonzales Marin, Antonioantonio.gonzalesmarin (at) dlr.dehttps://orcid.org/0000-0002-5666-4653
Shourijeh, Mohammad S.UNSPECIFIEDUNSPECIFIED
Galibarov, Pavel E.UNSPECIFIEDUNSPECIFIED
Damsgaard, MichaelUNSPECIFIEDUNSPECIFIED
Fritzsche, LarsUNSPECIFIEDUNSPECIFIED
Stulp, FreekFreek.Stulp (at) dlr.dehttps://orcid.org/0000-0001-9555-9517
Date:2018
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Human-Robot Interaction, Factory of the Future
Event Title:IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)
Event Location:Madrid, Spain
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Stulp, Freek
Deposited On:28 Jun 2019 12:56
Last Modified:31 Jul 2019 20:24

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