Towards ergonomie control of human-robot co-manipulation and handover

In this paper, we propose a novel method for the control of human-robot eo-manipulation that takes into aeeount the ergonomie requirements for the human eo-worker. The robot uses a whole-body dynamic model of the human to optimise for the position of the eo-manipulation task in the workspace. In this configuration, the overloading joint torques, i.e. the effects of an external load in human body joints, are minimised. In addition, the optimisation process ineludes several constraints, sueh as human arm manipulability properties, to ensure that the human has a good manipulation eapaeity in the given eonfiguration. The main advantage of this approaeh is that the robot ean potentially help to reduee the work-related strain and increase the productivity of the human eo-worker. In addition, the on-line estimation of the overloading joint torques does not require an external foree plate or sensor insoles. We validated the proposed method with experiments in two eo-manipulation tasks: human using a device to polish an object that is delivered by the robot and a human-robot object handover. The results show that the proposed method is successful in achieving the ergonomie conditions for the human during the eollaboration.