Interactive Motion Planning for Human-Robot Collaboration Based on Human-Centric Configuration Space Ergonomic Field
| Type of publication: | Journal paper |
| Citation: | Li_IE_2026 |
| Publication status: | Accepted |
| 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. |
| Main Research Program: | Human-AI Teaming |
| Keywords: | human-robot collaboration, robotics |
| Projects: |
Idiap |
| Authors: | |
| Added by: | [UNK] |
| Total mark: | 0 |
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