There has been increasing awareness of the difficulties in reaching and extracting people from mass casualty scenarios, such as those arising from natural disasters. While platforms have been designed to consider reaching casualties and even carrying them out of harm's way, the challenge of repositioning a casualty from its found configuration to one suitable for extraction has not been explicitly explored. Furthermore, this planning problem needs to incorporate biomechanical safety considerations for the casualty. Thus, we present a first solution to biomechanically safe trajectory generation for repositioning limbs of unconscious human casualties. We describe biomechanical safety as mathematical constraints, mechanical descriptions of the dynamics for the robot-human coupled system, and the planning and trajectory optimization process that considers this coupled and constrained system. We finally evaluate our approach over several variations of the problem and demonstrate it on a real robot and human subject. This work provides a crucial part of search and rescue that can be used in conjunction with past and present works involving robots and vision systems designed for search and rescue.

翻译：近年来，人们日益认识到在大规模伤亡事件（如自然灾害）中到达并转移伤员的困难。尽管已有平台设计用于接近伤员甚至将其运离危险区域，但将伤员从被发现时的姿态调整至适合转运的状态这一规划问题尚未得到明确研究。此外，该规划问题需要纳入伤员的生体力安全性考量。因此，我们首次提出针对无意识伤员肢体重新定位的生体力安全轨迹生成方案。我们将生体力安全定义为数学约束条件、机器人-人体耦合系统动力学的力学描述，以及考虑该耦合约束系统的规划与轨迹优化过程。最终，我们针对该问题的多种变体评估了该方法，并在真实机器人和人体受试者上进行了验证。本工作为搜救领域提供了关键组成部分，可与现有及过去的搜救机器人视觉系统研究结合使用。