Article published In:
Human Robot Collaborative Intelligence: Theory and applicationsEdited by Chenguang Yang, Xiaofeng Liu, Junpei Zhong and Angelo Cangelosi
[Interaction Studies 20:1] 2019
► pp. 102–133
Edited by Chenguang Yang, Xiaofeng Liu, Junpei Zhong and Angelo Cangelosi
[Interaction Studies 20:1] 2019
► pp. 102–133
Task allocation for improved ergonomics in Human-Robot Collaborative Assembly
Human-robot collaboration, whereby the human and the robot join their forces to achieve a task, opens new
application opportunities in manufacturing. Robots can perform precise and repetitive operations while humans can execute tasks
that require dexterity and problem-solving abilities. Moreover, collaborative robots can take over heavy-duty tasks.
Musculoskeletal disorders (MSDs) are a serious health concern and the primary cause of absenteeism at work. While the role of the
human is still essential in flexible production environment, the robot can help decreasing the workload of workers. This paper
describes a novel framework for task allocation of human-robot assembly applications based on capabilities and ergonomics
considerations. Capable agents are determined on the basis of agent characteristics and task requirements. Ergonomics is
integrated by measuring the human body posture and the related workload. The developed framework was validated on a gearbox
assembly use case using the collaborative robot Baxter.
Keywords: collaborative robot, task allocation, assembly, ergonomics, human body posture
Article outline
- 1.Introduction
- 2.Task decomposer
- 2.1Task sequence
- 2.2Manipulation taxonomy
- 3.Capability evaluator
- 3.1Information about agents and objects
- 3.2Capability evaluation
- 4.Ergonomics evaluator
- 4.1REBA
- 4.2Automatic postural assessment
- 5.Task allocator
- 5.1Task allocation
- 5.2Framework
- 6.Implementation
- 6.1Human tracking system
- 6.2Reba
- 7.Gearbox assembly
- 8.Experimental validation
- 9.Effects of the human tracking accuracy on the task allocation
- 10.Conclusion and future work
-
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