%Aigaion2 BibTeX export from Idiap Publications
%Friday 06 November 2026 03:15:15 PM

@ARTICLE{Li_IE_2026,
                      author = {Li, C. and Chen, Y. and Wu, X. and Teng, T. and Calinon, Sylvain and Caldwell, D. G. and Chen, F.},
                    keywords = {human-robot collaboration, robotics},
                    projects = {Idiap},
         mainresearchprogram = {Human-AI Teaming},
                       title = {Interactive Motion Planning for Human-Robot Collaboration Based on Human-Centric Configuration Space Ergonomic Field},
                     journal = {IEEE Transactions on Industrial Electronics},
                        year = {2026},
                         doi = {10.1109/TIE.2026.3730155},
                    abstract = {Industrial human-robot collaboration requires motion planning that is collision-free, responsive, and ergonomically safe to reduce fatigue and musculoskeletal risk. We propose the Configuration Space Ergonomic Field (CSEF), a continuous and differentiable field over the human joint space that quantifies ergonomic quality and provides gradients for real-time ergonomics-aware planning. An efficient algorithm constructs CSEF from established metrics with joint-wise weighting and task conditioning, and we integrate it into a gradient-based planner compatible with impedance-controlled robots. In a 2-DoF benchmark, CSEF-based planning achieves higher success rates, lower ergonomic cost, and faster computation than a task-space ergonomic planner. Hardware experiments with a dual-arm robot in unimanual guidance, collaborative drilling, and bimanual cocarrying show faster ergonomic cost reduction, closer tracking to optimized joint targets, and lower muscle activation than a point-to-point baseline. CSEF-based planning method reduces average ergonomic scores by up to 10.31\% for collaborative drilling tasks and 5.60\% for bimanual co-carrying tasks while decreasing activation in key muscle groups, indicating practical benefits for real-world deployment.},
                         pdf = {https://publications.idiap.ch/attachments/papers/2026/Li_IE_2026.pdf}
}