Novel human factors for ergonomy evaluation in virtual environments using virtual user models

Moschonas, Panagiotis; Kaklanis, Nikolaos; Tzovaras, Dimitrios

doi:10.1145/2087756.2087760

Cited by 8 publications

(2 citation statements)

References 32 publications

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“…To further evaluate the effectiveness of the proposed interface in removing the external loading from the human body, we estimated the human effort in our experiment and compared it with the effort that the same worker would allocate to achieve the same action manually. In order to measure this effort, similarly to [23], [24], we calculated impulse, i.e. the norm of the aggregate of the forces in time exerted by the human, in both tasks.…”

Section: B Resultsmentioning

confidence: 99%

A Visuo-Haptic Guidance Interface for Mobile Collaborative Robotic Assistant (MOCA)

Lamon

Fusaro

Balatti

et al. 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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In this work, we propose a novel visuo-haptic guidance interface to enable mobile collaborative robots to follow human instructions in a way understandable by nonexperts. The interface is composed of a haptic admittance module and a human visual tracking module. The haptic guidance enables an individual to guide the robot end-effector in the workspace to reach and grasp arbitrary items. The visual interface, on the other hand, uses a real-time human tracking system and enables autonomous and continuous navigation of the mobile robot towards the human, with the ability to avoid static and dynamic obstacles along its path. To ensure a safer human-robot interaction, the visual tracking goal is set outside of a certain area around the human body, entering which will switch robot behaviour to the haptic mode. The execution of the two modes is achieved by two different controllers, the mobile base admittance controller for the haptic guidance and the robot's whole-body impedance controller, that enables physically coupled and controllable locomotion and manipulation. The proposed interface is validated experimentally, where a human-guided robot performs the loading and transportation of a heavy object in a cluttered workspace, illustrating the potential of the proposed Follow-Me interface in removing the external loading from the human body in this type of repetitive industrial tasks.

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Section: B Resultsmentioning

confidence: 99%

A Visuo-Haptic Guidance Interface for Mobile Collaborative Robotic Assistant (MOCA)

Lamon

Fusaro

Balatti

et al. 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…2) RoM comfort Based on the joints' RoM values (1), the following comfort quantity ξ j i can be defined for the j-th DoF of the i-th joint at time instant k, similar to the approach suggested in [28]:…”

Section: A Kinematics-related Ergonomics Metricsmentioning

confidence: 99%

Quantitative Physical Ergonomics Assessment of Teleoperation Interfaces

Gholami¹,

Lorenzini

Momi

et al. 2022

IEEE Trans. Human-Mach. Syst.

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Human factors and ergonomics are the essential constituents of teleoperation interfaces, which can significantly affect the human operator's performance. Thus, a quantitative evaluation of these elements and the ability to establish reliable comparison bases for different teleoperation interfaces are the keys to select the most suitable one for a particular application. However, most of the works on teleoperation have so far focused on the stability analysis and the transparency improvement of these systems, and do not cover the important usability aspects. In this work, we propose a foundation to build a general framework for the analysis of human factors and ergonomics in employing diverse teleoperation interfaces. The proposed framework will go beyond the traditional subjective analyses of usability by complementing it with online measurements of the human body configurations. As a result, multiple quantitative metrics such as joints' usage, range of motion comfort, center of mass divergence, and posture comfort are introduced. To demonstrate the potential of the proposed framework, two different teleoperation interfaces are considered, and real-world experiments with eleven participants performing a simulated industrial remote pick-andplace task are conducted. The quantitative results of this analysis are provided, and compared with subjective questionnaires, illustrating the effectiveness of the proposed framework.

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Infrastructure for Detecting Android Malware

Delosières¹,

García²

2013

Information Sciences and Systems 2013

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Novel human factors for ergonomy evaluation in virtual environments using virtual user models

Cited by 8 publications

References 32 publications

A Visuo-Haptic Guidance Interface for Mobile Collaborative Robotic Assistant (MOCA)

A Visuo-Haptic Guidance Interface for Mobile Collaborative Robotic Assistant (MOCA)

Quantitative Physical Ergonomics Assessment of Teleoperation Interfaces

Infrastructure for Detecting Android Malware

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