Task allocation for improved ergonomics in Human-Robot Collaborative Assembly

2019 ◽  
Vol 20 (1) ◽  
pp. 102-133 ◽  
Author(s):  
Ilias El Makrini ◽  
Kelly Merckaert ◽  
Joris De Winter ◽  
Dirk Lefeber ◽  
Bram Vanderborght
Keyword(s):  
Task Allocation ◽  
Health Concern ◽  
Production Environment ◽  
Task Requirements ◽  
Collaborative Assembly ◽  
Agent Characteristics ◽  
Human Robot Collaboration ◽  
Collaborative Robot ◽  
And Task

Abstract Human-robot collaboration, whereby the human and the robot join their forces to achieve a task, opens new application opportunities in manufacturing. Robots can perform precise and repetitive operations while humans can execute tasks that require dexterity and problem-solving abilities. Moreover, collaborative robots can take over heavy-duty tasks. Musculoskeletal disorders (MSDs) are a serious health concern and the primary cause of absenteeism at work. While the role of the human is still essential in flexible production environment, the robot can help decreasing the workload of workers. This paper describes a novel framework for task allocation of human-robot assembly applications based on capabilities and ergonomics considerations. Capable agents are determined on the basis of agent characteristics and task requirements. Ergonomics is integrated by measuring the human body posture and the related workload. The developed framework was validated on a gearbox assembly use case using the collaborative robot Baxter.

scholarly journals A Practical and Effective Layout for a Safe Human-Robot Collaborative Assembly Task

2021 ◽  
Vol 11 (4) ◽  
pp. 1763
Author(s):  
Leonardo Sabatino Scimmi ◽  
Matteo Melchiorre ◽  
Mario Troise ◽  
Stefano Mauro ◽  
Stefano Pastorelli
Keyword(s):  
Real Time ◽  
Collision Avoidance ◽  
Microsoft Kinect ◽  
Single Camera ◽  
Significant Gain ◽  
Assembly Task ◽  
Collaborative Assembly ◽  
Pick And Place ◽  
Human Robot Collaboration ◽  
Collaborative Robot

This work describes a layout to carry out a demonstrative assembly task, during which a collaborative robot performs pick-and-place tasks to supply an operator the parts that he/she has to assemble. In this scenario, the robot and operator share the workspace and a real time collision avoidance algorithm is implemented to modify the planned trajectories of the robot avoiding any collision with the human worker. The movements of the operator are tracked by two Microsoft Kinect v2 sensors to overcome problems related with occlusions and poor perception of a single camera. The data obtained by the two Kinect sensors are combined and then given as input to the collision avoidance algorithm. The experimental results show the effectiveness of the collision avoidance algorithm and the significant gain in terms of task times that the highest level of human-robot collaboration can bring.

scholarly journals Seamless Human–Robot Collaborative Assembly Using Artificial Intelligence and Wearable Devices

2021 ◽  
Vol 11 (12) ◽  
pp. 5699
Author(s):  
Nikos Dimitropoulos ◽  
Theodoros Togias ◽  
Natalia Zacharaki ◽  
George Michalos ◽  
Sotiris Makris
Keyword(s):  
Search Algorithm ◽  
Manufacturing Sector ◽  
Wearable Devices ◽  
Industrial Case Study ◽  
Assembly Cell ◽  
Collaborative Assembly ◽  
Human Robot Collaboration ◽  
Collaborative Robot ◽  
High Payload

Seamless human–robot collaboration requires the equipping of robots with cognitive capabilities that enable their awareness of the environment, as well as the actions that take place inside the assembly cell. This paper proposes an AI-based system comprised of three modules that can capture the operator and environment status and process status, identify the tasks that are being executed by the operator using vision-based machine learning, and provide customized operator support from the robot side for shared tasks, automatically adapting to the operator’s needs and preferences. Moreover, the proposed system is able to assess the ergonomics in human–robot shared tasks and adapt the robot pose to improve ergonomics using a heuristics-based search algorithm. An industrial case study derived from the elevator manufacturing sector using a high payload collaborative robot is presented to demonstrate that collaboration efficiency can be enhanced through the use of the discussed system.

scholarly journals Determining Robotic Assistance for Inclusive Workplaces for People with Disabilities

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 44
Author(s):  
Elodie Hüsing ◽  
Carlo Weidemann ◽  
Michael Lorenz ◽  
Burkhard Corves ◽  
Mathias Hüsing
Keyword(s):  
Task Allocation ◽  
The Other ◽  
Robotic Assistance ◽  
Disabled People ◽  
Human Capabilities ◽  
Physical Abilities ◽  
The One ◽  
The Individual ◽  
Human Robot Collaboration ◽  
Collaborative Robot

Human–robot collaboration (HRC) provides the opportunity to enhance the physical abilities of severely and multiply disabled people thus allowing them to work in industrial workplaces on the primary labour market. In order to assist this target group optimally, the collaborative robot has to support them based on their individual capabilities. Therefore, the knowledge about the amount of required assistance is a central aspect for the design and programming of HRC workplaces. The paper introduces a new method that bases the task allocation on the individual capabilities of a person. The method obtains human capabilities on the one hand and the process requirements on the other. In the following step, these two profiles are compared and the workload of the human is acquired. This determines the amount of support or assistance, which should be provided by a robot capable of HRC. In the end, the profile comparison of an anonymized participant and the concept of the human–robot workplace is presented.

SARS-COV2 virus and Coronavirus disease (COVID-19)

2020 ◽  
Vol 11 (SPL1) ◽  
pp. 977-982
Author(s):  
Mohamed J. Saadh ◽  
Bashar Haj Rashid M ◽  
Roa’a Matar ◽  
Sajeda Riyad Aldibs ◽  
Hala Sbaih ◽  
...  
Keyword(s):  
Close Contact ◽  
Antiviral Agents ◽  
Health Concern ◽  
The Novel ◽  
Global Public Health ◽  
Fatal Disease ◽  
Mild Disease ◽  
Life Threatening ◽  
Novel Coronavirus

SARS-COV2 virus causes Coronavirus disease (COVID-19) and represents the causative agent of a potentially fatal disease that is of great global public health concern. The novel coronavirus (2019) was discovered in 2019 in Wuhan, the market of the wet animal, China with viral pneumonia cases and is life-threatening. Today, WHO announces COVID-19 outbreak as a pandemic. COVID-19 is likely to be zoonotic. It is transmitted from bats as intermediary animals to human. Also, the virus is transmitted from human to human who is in close contact with others. The computerized tomographic chest scan is usually abnormal even in those with no symptoms or mild disease. Treatment is nearly supportive; the role of antiviral agents is yet to be established. The SARS-COV2 virus spreads faster than its two ancestors, the SARS-CoV and Middle East respiratory syndrome coronavirus (MERS-CoV), but has lower fatality. In this article, we aimed to summarize the transmission, symptoms, pathogenesis, diagnosis, treatment, and vaccine to control the spread of this fatal disease.

Current state and main directions of preservation and strengthening of health of the working population of Russia

2020 ◽  
pp. 527-532 ◽  
Author(s):  
I. V. Bukhtiyarov
Keyword(s):  
Working Conditions ◽  
Russian Federation ◽  
Production Environment ◽  
Working Population ◽  
Industrial Enterprises ◽  
The Past ◽  
Production Factors ◽  
Current State ◽  
The Russian Federation

The article presents the results of the analysis of health, working conditions and prevalence of adverse production factors, the structure of the detected occupational pathology in the working population of the Russian Federation. The article presents Statistical data on the dynamics of the share of workplaces of industrial enterprises that do not meet hygienic standards, occupational morbidity in 2015-2018 for the main groups of adverse factors of the production environment and the labor process. The indicators of occupational morbidity over the past 6 years in the context of the main types of economic activity, individual subjects of the Russian Federation, classes of working conditions, levels of specialized occupational health care. The role of the research Institute of occupational pathology and occupational pathology centers in solving organizational, methodological and practical tasks for the detection, treatment, rehabilitation and prevention of occupational diseases is shown. The basic directions of activity in the field of preservation and strengthening of health of workers, and also safety at a workplace are defined.

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