2015
Personalized kinematics for human-robot collaborative manipulation
Aaron M. Bestick, Samuel A. Burden, Giorgia Willits, Nikhil Naikal, S. Shankar Sastry, Ruzena Bajcsy
IROS 2015poster
We present a framework for parameter and state estimation of personalized human kinematic models from motion capture data. These models can be used to optimize a variety of human-robot collaboration scenarios for the comfort or ergonomics of an individual human collaborator. Our approach offers two…