论文标题
领导者机器人是否是对人类遥控器的姿势估计和人体工程学评估的足够传感器？
Is The Leader Robot an Adequate Sensor for Posture Estimation and Ergonomic Assessment of A Human Teleoperator?
论文作者
论文摘要
人体工程学评估人体姿势在理解与工作有关的安全和健康方面起着至关重要的作用。当前的姿势估计方法面临远程操作和物理人类机器人相互作用的遮挡挑战。我们研究领导者机器人是否是远程运行中姿势估计的足够传感器，我们引入了一种新的概率方法，该方法仅依赖于领导者机器人的轨迹来产生观察。我们使用冗余，可观察的动力学系统对人进行建模，并使用标准粒子滤波器推断姿势。我们将我们的方法与商业运动捕获系统的姿势以及人类逆运动学的两种最小二乘优化方法进行了比较。结果表明，所提出的方法成功地估计了人体工程学的风险评分，可与金标准运动捕获的估计值相当。
Ergonomic assessment of human posture plays a vital role in understanding work-related safety and health. Current posture estimation approaches face occlusion challenges in teleoperation and physical human-robot interaction. We investigate if the leader robot is an adequate sensor for posture estimation in teleoperation and we introduce a new probabilistic approach that relies solely on the trajectory of the leader robot for generating observations. We model the human using a redundant, partially-observable dynamical system and we infer the posture using a standard particle filter. We compare our approach with postures from a commercial motion capture system and also two least-squares optimization approaches for human inverse kinematics. The results reveal that the proposed approach successfully estimates human postures and ergonomic risk scores comparable to those estimates from gold-standard motion capture.
