Journal article Open Access

Online Non-Collocated Estimation of Payload and Articular Stress for Real-Time Human Ergonomy Assessment

Claudia Latella; Kourosh Darvish; Yeshasvi Tirupachuri; Prashanth Ramadoss; Lorenzo Rapetti; Silvio Traversaro; Daniele Pucci


MARC21 XML Export

<?xml version='1.0' encoding='UTF-8'?>
<record xmlns="http://www.loc.gov/MARC21/slim">
  <leader>00000nam##2200000uu#4500</leader>
  <datafield tag="650" ind1="1" ind2="7">
    <subfield code="a">cc-by</subfield>
    <subfield code="2">opendefinition.org</subfield>
  </datafield>
  <datafield tag="653" ind1=" " ind2=" ">
    <subfield code="a">EC</subfield>
  </datafield>
  <datafield tag="653" ind1=" " ind2=" ">
    <subfield code="a">Research and Innovation action</subfield>
  </datafield>
  <datafield tag="653" ind1=" " ind2=" ">
    <subfield code="a">European Commission</subfield>
  </datafield>
  <datafield tag="653" ind1=" " ind2=" ">
    <subfield code="a">H2020</subfield>
  </datafield>
  <datafield tag="653" ind1=" " ind2=" ">
    <subfield code="a">Rural Digital Europe</subfield>
  </datafield>
  <datafield tag="653" ind1=" " ind2=" ">
    <subfield code="a">General Engineering</subfield>
  </datafield>
  <datafield tag="653" ind1=" " ind2=" ">
    <subfield code="a">General Materials Science</subfield>
  </datafield>
  <datafield tag="653" ind1=" " ind2=" ">
    <subfield code="a">General Computer Science</subfield>
  </datafield>
  <datafield tag="520" ind1=" " ind2=" ">
    <subfield code="a">Improving the quality of work for human beings is receiving a lot of attention from multiple research communities. In particular, digital transformation in human factors and ergonomics is going to empower the next generation of the socio-technical workforce. The use of wearable sensors, collaborative robots, and exoskeletons, coupled with novel technologies for the real-time assessment of human ergonomy forms the crux of this digital transformation. In this direction, this paper focuses on the open problem of estimating the interaction wrench experienced at the human extremities (such as hands), where the feasibility of direct sensor measurements is not practical. We refer to our approach as non-collocated wrench estimation, as we aim to estimate the wrench at known contact locations but without using any direct force-torque sensor measurements at these known locations. We achieve this by extending the formulation of stochastic inverse dynamics for humans by considering a centroidal dynamics constraint to perform a reliable non-collocated estimation of interaction wrench and the joint torques (articular stress) experienced as a direct consequence of the interaction. Our approach of non-collocated estimation is thoroughly validated in terms of payload estimation and articular stress estimation through validation and experimental scenarios involving dynamic human motions like walking.</subfield>
  </datafield>
  <datafield tag="980" ind1=" " ind2=" ">
    <subfield code="a">publication</subfield>
    <subfield code="b">article</subfield>
  </datafield>
  <datafield tag="980" ind1=" " ind2=" ">
    <subfield code="a">user-itmirror</subfield>
  </datafield>
  <datafield tag="260" ind1=" " ind2=" ">
    <subfield code="c">2021-01-01</subfield>
  </datafield>
  <controlfield tag="005">20230929130553.0</controlfield>
  <datafield tag="041" ind1=" " ind2=" ">
    <subfield code="a">und</subfield>
  </datafield>
  <controlfield tag="001">142791</controlfield>
  <datafield tag="700" ind1=" " ind2=" ">
    <subfield code="a">Kourosh Darvish</subfield>
  </datafield>
  <datafield tag="700" ind1=" " ind2=" ">
    <subfield code="a">Yeshasvi Tirupachuri</subfield>
  </datafield>
  <datafield tag="700" ind1=" " ind2=" ">
    <subfield code="a">Prashanth Ramadoss</subfield>
  </datafield>
  <datafield tag="700" ind1=" " ind2=" ">
    <subfield code="a">Lorenzo Rapetti</subfield>
  </datafield>
  <datafield tag="700" ind1=" " ind2=" ">
    <subfield code="a">Silvio Traversaro</subfield>
  </datafield>
  <datafield tag="700" ind1=" " ind2=" ">
    <subfield code="a">Daniele Pucci</subfield>
  </datafield>
  <datafield tag="542" ind1=" " ind2=" ">
    <subfield code="l">open</subfield>
  </datafield>
  <datafield tag="100" ind1=" " ind2=" ">
    <subfield code="a">Claudia Latella</subfield>
  </datafield>
  <datafield tag="245" ind1=" " ind2=" ">
    <subfield code="a">Online Non-Collocated Estimation of Payload and Articular Stress for Real-Time Human Ergonomy Assessment</subfield>
  </datafield>
  <datafield tag="856" ind1="4" ind2=" ">
    <subfield code="s">14929164</subfield>
    <subfield code="u">https://www.openaccessrepository.it/record/142791/files/fulltext.pdf</subfield>
    <subfield code="z">md5:4f4721e16df6f47b65470655206cb17c</subfield>
  </datafield>
  <datafield tag="540" ind1=" " ind2=" ">
    <subfield code="u">https://creativecommons.org/licenses/by/4.0/</subfield>
    <subfield code="a">Creative Commons Attribution 4.0</subfield>
  </datafield>
  <datafield tag="024" ind1=" " ind2=" ">
    <subfield code="a">10.1109/access.2021.3109238</subfield>
    <subfield code="2">doi</subfield>
  </datafield>
  <datafield tag="536" ind1=" " ind2=" ">
    <subfield code="a">Advancing Anticipatory Behaviors in Dyadic Human-Robot Collaboration</subfield>
    <subfield code="c">731540</subfield>
  </datafield>
</record>
0
0
views
downloads
Views 0
Downloads 0
Data volume 0 Bytes
Unique views 0
Unique downloads 0

Share

Cite as