Human arm optimal motion analysis in industrial screwing task - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Accéder directement au contenu
Communication Dans Un Congrès Année : 2014

Human arm optimal motion analysis in industrial screwing task

Résumé

In this study, we propose to explore inverse optimization process to better understand human arm motion in industrial screwing task. The process combines several criteria to minimize such as energy expenditure or trajectory smoothness leading to the optimal trajectory of a typical screwing task, often performed by workers. Estimated joint trajectories are similar with the measured ones, with a mean square error of 4 degrees. The resulting cost-function is mainly composed of energy expenditure and geodesic criteria. Results show the relevance of using composite cost function in human motion planning. This study has been conducted to assist workers by using collaborative robots in painful task in PSA Peugeot Citroen factories to improve ergonomics of manual workstations.
Fichier principal
Vignette du fichier
06913905.pdf (1.01 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

lirmm-01111274 , version 1 (30-01-2015)

Identifiants

Citer

Nahéma Sylla, Vincent Bonnet, Gentiane Venture, Nasser Armande, Philippe Fraisse. Human arm optimal motion analysis in industrial screwing task. BioRob: Biomedical Robotics and Biomechatronics, Aug 2014, São Paulo, Brazil. pp.964-969, ⟨10.1109/BIOROB.2014.6913905⟩. ⟨lirmm-01111274⟩
167 Consultations
471 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More