4 accepted papers
Assessing human muscle fatigue is critical for optimizing performance in physical human–robot interaction (pHRI) tasks and mitigating safety risks for the human operator. This paper presents a data-driven framework for estimating muscle fatigue in dynamic pHRI tasks using surface electromyography (s…
This paper proposes an adaptive admittance controller for improving efficiency and safety in physical human-robot interaction (pHRI) tasks in small-batch manufacturing that involve contact with stiff environments, such as drilling, polishing, cutting, etc. We aim to minimize human effort and task co…
Drilling a hole on a curved surface with a desired angle is prone to failure when done manually, due to the difficulties in drill alignment and also inherent instabilities of the task, potentially causing injury and fatigue to the workers. On the other hand, it can be impractical to fully automate s…
In today's automation driven manufacturing environments, emerging technologies like cobots (collaborative robots) and augmented reality interfaces can help integrating humans into the production workflow to benefit from their adaptability and cognitive skills. In such settings, humans are expected t…