让机器人实时适应用户上肢残疾，助力康复后复工
Towards Online Robot Interaction Adaptation to Human Upper-limb Mobility Impairments in Return-to-Work Scenarios
- 基于关节功能限制构建动态模型，实时调整机器人动作
- 在坐/站姿下测试，有效适配不同关节损伤情况
- 适合康复工程与无障碍人机协作场景
工作环境常无法满足上肢障碍者需求。本文提出一种在线自适应人-机器人交互框架，针对用户手臂活动障碍，通过将特定关节功能限制的运动模型融入分层最优控制器，使机器人能实时生成响应式、具备残存运动感知的行为，引导受损肢体利用剩余功能。在移动机械臂上，于站立与坐姿下开展交接任务测试，模拟肘部、肩部关节炎及腕部僵直等上肢障碍，并在任务约束条件下，与当前先进的人体工程学人机协作方法进行定量与定性对比。初步结果显示，该框架可个性化适配用户受限活动范围，并根据功能损伤程度促进关节协同使用。
原文摘要 · Abstract (English)
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility impairments, ultimately aiming to promote active work participation. Unlike traditional human-robot collaboration approaches that assume able-bodied users, our method integrates a mobility model for specific joint limitations into a hierarchical optimal controller. This allows the robot to generate reactive, mobility-aware behaviour online and guides the user's impaired limb to exploit residual functional mobility. The framework was tested in handover tasks involving different upper-limb mobility impairments (i.e., emulated elbow and shoulder arthritis, and wrist blockage), under both standing and seated configurations with task constraints using a mobile manipulator, and complemented by quantitative and qualitative comparisons with state-of-the-art ergonomic HRI approaches. Preliminary results indicated that the framework can personalise the interaction to fit within the user's impaired range of motion and encourage joint usage based on the severity of their functional limitations.
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