用虚拟力场引导机械臂使用者保持正确姿势，避免疲劳损伤。
Postural Virtual Fixtures for Ergonomic Physical Interactions with Supernumerary Robotic Bodies
- 通过实时评估姿势并施加阻力，引导用户保持人体工学姿态。
- 14名受试者实验表明，新方法显著减少非人体工学姿势使用时间。
- 适合需要长期人机协作的工业或康复场景。
作为附加机械体（SRBs）的协同机器人可提升人类承重能力。但在涉及物理交互的任务中，用户仍可能采用不合理的姿势，长期可能导致不适或受伤。本文提出一种新型控制框架，在检测到非人体工学姿势时，向操作者提供本体觉反馈以施加阻力，从而引导其形成良好姿势习惯。该方法结合连续在线的人体工学姿势评估与虚拟力场技术，并针对安装于浮动基座上的机械臂，动态调整基座位置以增强协调性。实验结果表明，该框架在两项包含14名受试者的实际搬运操作任务中表现优异，相比未考虑人体工学的基准控制方案，显著降低了非人体工学姿势的出现频率。
原文摘要 · Abstract (English)
Conjoined collaborative robots, functioning as supernumerary robotic bodies (SRBs), can enhance human load tolerance abilities. However, in tasks involving physical interaction with humans, users may still adopt awkward, non-ergonomic postures, which can lead to discomfort or injury over time. In this paper, we propose a novel control framework that provides kinesthetic feedback to SRB users when a non-ergonomic posture is detected, offering resistance to discourage such behaviors. This approach aims to foster long-term learning of ergonomic habits and promote proper posture during physical interactions. To achieve this, a virtual fixture method is developed, integrated with a continuous, online ergonomic posture assessment framework. Additionally, to improve coordination between the operator and the SRB, which consists of a robotic arm mounted on a floating base, the position of the floating base is adjusted as needed. Experimental results demonstrate the functionality and efficacy of the ergonomics-driven control framework, including two user studies involving practical loco-manipulation tasks with 14 subjects, comparing the proposed framework with a baseline control framework that does not account for human ergonomics.
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