Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control approach for human-robot collaboration based on human monitoring through whole-body wearable sensors, and interaction modelling through coupled rigid-body dynamics. Moreover, a trajectory advancement strategy is proposed, allowing for online adaptation of the robot trajectory depending on the human motion. The resulting framework allows us to perform payload lifting tasks, taking into account the ergonomic requirements of the agents. Validation has been performed in an experimental scenario using the iCub3 humanoid robot and a human subject sensorized with the iFeel wearable system.

翻译：协作机器人可在负载举起活动中减轻操作员的过度体力消耗。通过对人体伙伴进行建模，可设计安全高效的协作策略。本文提出了一种基于全身可穿戴传感器进行人体监测，并通过耦合刚体动力学进行交互建模的人机协作控制方法。此外，提出了一种轨迹推进策略，允许根据人体运动在线调整机器人轨迹。最终形成的框架使我们能够执行负载举起任务，同时兼顾操作者的人体工学需求。在实验场景中，使用iCub3人形机器人和配备iFeel可穿戴系统的受试者进行了验证。