scholarly journals Planning to Minimize the Human Muscular Effort during Forceful Human-Robot Collaboration

2022 ◽  
Vol 11 (1) ◽  
pp. 1-27
Author(s):  
Luis F. C. Figueredo ◽  
Rafael De Castro Aguiar ◽  
Lipeng Chen ◽  
Thomas C. Richards ◽  
Samit Chakrabarty ◽  
...  

This work addresses the problem of planning a robot configuration and grasp to position a shared object during forceful human-robot collaboration, such as a puncturing or a cutting task. Particularly, our goal is to find a robot configuration that positions the jointly manipulated object such that the muscular effort of the human, operating on the same object, is minimized while also ensuring the stability of the interaction for the robot. This raises three challenges. First, we predict the human muscular effort given a human-robot combined kinematic configuration and the interaction forces of a task. To do this, we perform task-space to muscle-space mapping for two different musculoskeletal models of the human arm. Second, we predict the human body kinematic configuration given a robot configuration and the resulting object pose in the workspace. To do this, we assume that the human prefers the body configuration that minimizes the muscular effort. And third, we ensure that, under the forces applied by the human, the robot grasp on the object is stable and the robot joint torques are within limits. Addressing these three challenges, we build a planner that, given a forceful task description, can output the robot grasp on an object and the robot configuration to position the shared object in space. We quantitatively analyze the performance of the planner and the validity of our assumptions. We conduct experiments with human subjects to measure their kinematic configurations, muscular activity, and force output during collaborative puncturing and cutting tasks. The results illustrate the effectiveness of our planner in reducing the human muscular load. For instance, for the puncturing task, our planner is able to reduce muscular load by 69.5\% compared to a user-based selection of object poses.

2021 ◽  
Vol 20 (3) ◽  
Author(s):  
Sebastián Alberto Peláez-Gómez ◽  
Luis Eduardo Rodríguez-Cheu

During this case study, the risks of posture, strength and repetition associated with the activity of manual coffee harvesting were evaluated. The sample studied was 26 volunteers who participated in the completion of a Nordic questionnaire, 10 of these were evaluated using observational,and postural tools and 8 people participated in the biomechanical evaluation of postural and muscular load using electromyography and inertial. Seven muscles and two body segments of the upper limbs were evaluated. The goal was to assessthe working conditions of coffee manual harvesting considering ergonomics.The results of the discomfortsweremanifested in the Nordic questionnaire where it was evident that throughout a workday harvesting coffee, the discomfort focuses on the back, lower back, hands,and feet. In the muscle load evaluation was identified that the muscles with the highest activity were the Extensor, Flexor Carpi Ulnar and the trapezius.On average,their muscular activity was20% of their maximum volunteer contraction when performing the statistical analysis. -Tics showed a greater correlation in muscle activationbetween the Carpi Radial Extender and the trapezius. In the postural evaluation of the body segments from the coffee harvesters evaluated, it was identified that they only maintain between 10% and 20% in neutral ranges, so they are always in risky conditions. In conclusion, it is necessary to carry out interventions in the Colombian coffee sector not only because of these evaluated conditions but also for theconditions in theirwork environment.


1997 ◽  
Vol 200 (23) ◽  
pp. 3003-3012 ◽  
Author(s):  
W A Schutt ◽  
J S Altenbach ◽  
Y H Chang ◽  
D M Cullinane ◽  
J W Hermanson ◽  
...  

Desmodus rotundus, the common vampire bat (Phyllostomidae: Desmodontinae), exhibits complex and variable terrestrial movements that include flight-initiating vertical jumps. This ability is unique among bats and is related to their unusual feeding behavior. As a consequence of this behavior, the wing is expected to have design features that allow both powered flight and the generation of violent jumps. In this study, high-speed cine images were synchronized with ground reaction force recordings to evaluate the dynamics of jumping behavior in D. rotundus and to explore the functional characteristics of a wing operating under competing mechanical constraints. The pectoral limbs are responsible for generating upward thrust during the jump. The hindlimbs stabilize and orient the body over the pectoral limbs. The thumbs (pollices) stabilize the pectoral limb and contribute to extending the time over which vertical force is exerted. Peak vertical force can reach 9.5 times body weight in approximately 30 ms. Mean impulse is 0.0580+/-0.007 N s (mean +/- s.d., N=12), which accelerates the animal to a mean take-off velocity of 2.38+/-0.24 m s-1. A model of the muscular activity during jumping is described that accounts for the characteristic force output shown by these animals during flight-initiating jumps.


2020 ◽  
Vol 36 (2) ◽  
pp. 97-111
Author(s):  
Stanislava Gardasevic

Purpose This paper presents the results of a qualitative study that involved students of an interdisciplinary PhD program. The study objective was to gather requirements to create a knowledge graph information system. The purpose of this study was to determine information-seeking practices and information needs of this community, to inform the functionalities of a proposed system, intended to help students with relevant resource discovery and decision-making. Design/methodology/approach The study design included semi-structured interviews with eight members of the community, followed by a website usability study with the same student participants. Findings Two main information-seeking styles are recognized and reported through user personas of international and domestic (USA) students. The findings show that the useful information resides within the community and not so much on the program website. Students rely on peer communication, although they report lack of opportunities to connect. Students’ information needs and information seeking are dependent on their progress through the program, as well as their motivation and the projected timeline. Practical implications Considering the current information needs and practices, a knowledge graph hosting both information on social networks and the knowledge produced by the activities of the community members would be useful. By recording data on their activities (for example, collaboration with professors and coursework), students would reveal further useful system functionalities and facilitate transfer of tacit knowledge. Originality/value Aside from the practical value of this research that is directly influencing the design of a system, it contributes to the body of knowledge on interdisciplinary PhD programs.


1985 ◽  
Vol 110 (3_Suppla) ◽  
pp. S11-S18 ◽  
Author(s):  
H. Kopera

Metabolism is the term employed to embrace the various physical and chemical processes occurring within the tissues upon which the growth and heat production of the body depend and from which the energy for muscular activity, for the maintenance of vital activity and for the maintenance of vital functions is derived (Best & Taylor 1950). The destructive processes by which complex substances are converted by living cells into more simple compounds are called catabolism. Anabolism denotes the constructive processes by which simple substances are converted by living cells into more complex compounds, especially into living matter. Catabolism and anabolism are part of all metabolic processes, the carbohydrate, fat and protein metabolism. The term anabolic refers only to substances that exert an anabolic effect on protein metabolism and are unlikely to cause adverse androgenic effects. They shift the equilibrium between protein synthesis and degradation in the body as a whole in the direction of synthesis, either by promoting protein synthesis or reducing its breakdown. The protein anabolic effect of anabolic steroids is not restricted to single organs but is the result of stimulated biosynthesis of cellular protein in the whole organism.


2015 ◽  
Vol 64 (1/2) ◽  
pp. 82-100 ◽  
Author(s):  
Michael Calaresu ◽  
Ali Shiri

Purpose – The purpose of this article is to explore and conceptualize the Semantic Web as a term that has been widely mentioned in the literature of library and information science. More specifically, its aim is to shed light on the evolution of the Web and to highlight a previously proposed means of attempting to improve automated manipulation of Web-based data in the context of a rapidly expanding base of both users and digital content. Design/methodology/approach – The conceptual analysis presented in this paper adopts a three-dimensional model for the discussion of Semantic Web. The first dimension focuses on Semantic Web’s basic nature, purpose and history, as well as the current state and limitations of modern search systems and related software agents. The second dimension focuses on critical knowledge structures such as taxonomies, thesauri and ontologies which are understood as fundamental elements in the creation of a Semantic Web architecture. In the third dimension, an alternative conceptual model is proposed, one, which unlike more commonly prevalent Semantic Web models, offers a greater emphasis on describing the proposed structure from an interpretive viewpoint, rather than a technical one. This paper adopts an interpretive, historical and conceptual approach to the notion of the Semantic Web by reviewing the literature and by analyzing the developments associated with the Web over the past three decades. It proposes a simplified conceptual model for easy understanding. Findings – The paper provides a conceptual model of the Semantic Web that encompasses four key strata, namely, the body of human users, the body of software applications facilitating creation and consumption of documents, the body of documents themselves and a proposed layer that would improve automated manipulation of Web-based data by the software applications. Research limitations/implications – This paper will facilitate a better conceptual understanding of the Semantic Web, and thereby contribute, in a small way, to the larger body of discourse surrounding it. The conceptual model will provide a reference point for education and research purposes. Originality/value – This paper provides an original analysis of both conceptual and technical aspects of Semantic Web. The proposed conceptual model provides a new perspective on this subject.


2018 ◽  
Vol 25 (4) ◽  
pp. 373-389 ◽  
Author(s):  
Jurandir Peinado ◽  
Alexandre Reis Graeml ◽  
Fernando Vianna

Purpose The purpose of this paper is to assess the differences in importance assigned by manufacturing or service organizations to topics related to operations management and its attendant body of knowledge. Design/methodology/approach The authors did this by cataloguing and analyzing vacancy announcements related to operations management, presented by manufacturing and services companies in major Brazilian human resources websites. Findings The results show that manufacturing companies primarily hire personnel with skills in routine process management, quality management, lean manufacturing, ergonomics and work organization. Service companies generally seek professionals with knowledge and experience in logistics, supply chain management and project management. Research limitations/implications This study presents some limitations that reduce the power of its conclusions. There is some degree of subjectivity in the interpretation of the contents of the analyzed ads. In order to reduce this problem, the authors who did the tabulation of data marked the situations for which there were some doubts about the classification, discussing them with the other author, until they reached a consensus on the best way to classify each one. Originality/value The discussion about the importance assigned by manufacturing and service companies to the topics of operations management is crucial for not only the results obtained, but also to stimulate the debate on topics that comprise or should comprise the body of knowledge of operations management, and the way they are incorporated into business practice. This provides an additional opportunity to reflect on the potential of operations management in supporting business managers now and in the future.


2014 ◽  
Vol 11 (2) ◽  
pp. 176-191 ◽  
Author(s):  
Rajneesh Mahajan ◽  
Suresh Garg ◽  
P.B. Sharma

Purpose – The purpose of this paper is to investigate perspective in explaining how global food safety can be created through stringent implementation of Codex and World Trade Organization (WTOs) Sanitary and Phytosanitary food safety regulations and suggests the appropriate food safety system for India. Design/methodology/approach – The study has been deployed a survey questionnaire using a sample of Indian Processed food sector. In order to collect data 1,000 supply chain professional were contacted for seeking their consent to be part of the survey. Whereas total responses collected were 252 from Delhi and NCR, with response rate 25.2 percent. The data collected was empirical tested using descriptive statistics, correlation analysis, regression and ANOVA. Findings – The results and discussions indicate that all the global food safety norms laid down by WTO such as goods manufacturing practices, good hygienic practice, hazard analysis critical control point, has been developed to embody principles of safe food processing sector globally. India has also developed their food safety norms as per laid down principles by WTO. Originality/value – The present research work makes an important contribution to the body of literature on global food safety. The paper has important implications for the processed food sector since it tries to bring out practices which would help in successful implementation of global food safety standards. It is useful for academic food research as well as for processed food corporate.


2015 ◽  
Vol 116 (7/8) ◽  
pp. 358-368 ◽  
Author(s):  
Heather Michele Moorefield-Lang

Abstract – The purpose of this paper is to analyze the user agreements of makerspaces in public and academic libraries. User agreements, also known as maker agreements, user forms and liability forms, can be very important documents between library patrons, staff and faculty. User agreements are similar to the earlier creation of acceptable use policies for technology use in libraries. The author of this study will delve into the user agreements created for public and academic libraries across the USA. Design/methodology/approach – The researcher used content analysis to investigate 24 different user agreements written for public and academic library makerspaces. NVivo qualitative data analysis software was integrated into this research to aid in the breakdown of commonalities across terms, themes and purpose within the user agreements. Findings – Although makerspaces are a very exciting topic in the field of library science at this time, the implementation of a maker learning space is still new to many libraries. Creating a user agreement for a makerspace is newer still. Most user agreements in this study were six months to a year old. Some consistencies found across makerspace user agreements include liability waivers, permissions for minors, safety, copyright and technology replacement costs. Originality/value – At this time, most publications on makerspaces are held in the realm of popular publications (blogs, magazines, zines, etc.). The body of peer-reviewed and scholarly research on makerspaces is growing. Makerspace user agreements are new to this growing field of interest, and a content analysis of these documents will pave the way for the writing of future forms.


2001 ◽  
Vol 95 (1) ◽  
pp. 58-63 ◽  
Author(s):  
Han-Jung Chen ◽  
Cheng-Loong Liang ◽  
Kang Lu

Object. Transthoracic endoscopic T2–3 sympathectomy is currently the treatment of choice for palmar hyperhidrosis. Compensatory sweating of the face, trunk, thigh, and sole of the foot was found in more than 50% of patients who underwent this procedure. The authors conducted this study to investigate the associated intraoperative changes in plantar skin temperature and postoperative plantar sweating. Methods. One hundred patients with palmar hyperhidrosis underwent bilateral transthoracic endoscopic T2–3 sympathectomy. There were 60 female and 40 male patients who ranged in age from 13 to 40 years (mean age 21.6 years). Characteristics studied included changes in palmar and plantar skin temperature measured intraoperatively, as well as pre- and postoperative changes in plantar sweating and sympathetic skin responses (SSRs). In 59 patients (59%) elevation of plantar temperature was demonstrated at the end of the surgical procedure. In this group, plantar sweating was found to be exacerbated in three patients (5%); plantar sweating was improved in 52 patients (88.1%); and no change was demonstrated in four patients (6.8%). In the other group of patients in whom no temperature change occurred, increased plantar sweating was demonstrated in three patients (7.3%); plantar sweating was improved in 20 patients (48.8%); and no change was shown in 18 patients (43.9%). The difference between temperature and sweating change was significant (p = 0.001). Compared with the presympathectomy rate, the rate of absent SSR also significantly increased after sympathectomy: from 20 to 76% after electrical stimulation and 36 to 64% after deep inspiration stimulation, respectively (p < 0.05). Conclusions. In contrast to compensatory sweating in other parts of the body after T2–3 sympathetomy, improvement in plantar sweating was shown in 72% and worsened symptoms in 6% of patients. The intraoperative plantar skin temperature change and perioperative SSR demonstrated a correlation between these changes.


2018 ◽  
Vol 29 (1) ◽  
pp. 41-84 ◽  
Author(s):  
Narpat Ram Sangwa ◽  
Kuldip Singh Sangwan

Purpose The purpose of this paper is to propose an integrated performance measurement framework to measure the effect of lean implementation throughout all functions of an organization. Design/methodology/approach The paper identifies the seven categories representing all organizational functions. These categories have been divided into 26 performance dimensions and key performance indicators (KPIs) for each performance dimension have been identified to measure lean performance. The interrelationship of each category with lean principles and/or lean wastes has been identified. KPIs are developed on the basis of identified criteria, frequency analysis of existing literature, and discussion with industry professionals. Finally, an integrated performance measurement framework is proposed. Findings The proposed framework evaluates the organization under seven categories – manufacturing process, new product development (NPD), human resource management, finance, administration, customer management, and supplier management. In total, 26 dimensions and 119 key performance indicators have been identified under the seven categories. Research limitations/implications The proposed framework is a conceptual framework and it is to be tested by empirical and cross-sectional studies. Originality/value The main novelty of the research is that the leanness of the organization has been measured throughout the supply chain of the organization in an integrated way. The various areas of measurement are manufacturing process, NPD, finance, administration, customer management, and supplier management. Further, the proposed KPIs are also categorized as qualitative or quantitative, strategic or operational, social or technical, financial or non-financial, leading or lagging, static or dynamic. This paper contributes to the body of knowledge in performance measurement.


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