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Article published In: Human Robot Collaborative Intelligence: Theory and applications
Edited by Chenguang Yang, Xiaofeng Liu, Junpei Zhong and Angelo Cangelosi
[Interaction Studies 20:1] 2019
► pp. 102–133

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Task allocation for improved ergonomics in Human-Robot Collaborative Assembly

 | Vrije Universiteit Brussel
 | Vrije Universiteit Brussel
 | Vrije Universiteit Brussel
 | Vrije Universiteit Brussel
 | Vrije Universiteit Brussel
Published online: 15 July 2019
DOI logo with link
https://doi.org/10.1075/is.18018.mak
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.
Article outline
  • 1.Introduction
  • 2.Task decomposer
    • 2.1Task sequence
    • 2.2Manipulation taxonomy
  • 3.Capability evaluator
    • 3.1Information about agents and objects
    • 3.2Capability evaluation
  • 4.Ergonomics evaluator
    • 4.1REBA
    • 4.2Automatic postural assessment
  • 5.Task allocator
    • 5.1Task allocation
    • 5.2Framework
  • 6.Implementation
    • 6.1Human tracking system
    • 6.2Reba
  • 7.Gearbox assembly
  • 8.Experimental validation
  • 9.Effects of the human tracking accuracy on the task allocation
  • 10.Conclusion and future work
  • References
References (30)
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