Computational ergonomics for task delegation in Human-Robot Collaboration: spatiotemporal adaptation of the robot to the human through contactless gesture recognition

摘要

The high prevalence of work-related musculoskeletal disorders (WMSDs) could be addressed by optimizing Human-Robot Collaboration (HRC) frameworks for manufacturing applications. In this context, this paper proposes two hypotheses for ergonomically effective task delegation and HRC. The first hypothesis states that it is possible to quantify ergonomically professional tasks using motion data from a reduced set of sensors. Then, the most dangerous tasks can be delegated to a collaborative robot. The second hypothesis is that by including gesture recognition and spatial adaptation, the ergonomics of an HRC scenario can be improved by avoiding needless motions that could expose operators to ergonomic risks and by lowering the physical effort required of operators. An HRC scenario for a television manufacturing process is optimized to test both hypotheses. For the ergonomic evaluation, motion primitives with known ergonomic risks were modeled for their detection in professional tasks and to estimate a risk score based on the European Assembly Worksheet (EAWS). A Deep Learning gesture recognition module trained with egocentric television assembly data was used to complement the collaboration between the human operator and the robot. Additionally, a skeleton-tracking algorithm provided the robot with information about the operator's pose, allowing it to spatially adapt its motion to the operator's anthropometrics. Three experiments were conducted to determine the effect of gesture recognition and spatial adaptation on the operator's range of motion. The rate of spatial adaptation was used as a key performance indicator (KPI), and a new KPI for measuring the reduction in the operator's motion is presented in this paper.