Intelligent ergonomic optimization in bimanual worker-robot interaction: A Reinforcement Learning approach

IF 9.6 1区 工程技术 Q1 CONSTRUCTION & BUILDING TECHNOLOGY Automation in Construction Pub Date : 2024-09-17 DOI:10.1016/j.autcon.2024.105741
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Abstract

Robots have the potential to enhance safety on construction job sites by assuming hazardous tasks. While existing safety research on physical human-robot interaction (pHRI) primarily addresses collision risks, ensuring inherently safe collaborative workflows is equally important. For example, ergonomic optimization in co-manipulation is an important safety consideration in pHRI. While frameworks such as Rapid Entire Body Assessment (REBA) have been an industry standard for these interventions, their lack of a rigorous mathematical structure poses challenges for using them with optimization algorithms. Previous works have tackled this gap by developing approximations or statistical approaches that are error-prone or data-dependent. This paper presents a framework using Reinforcement Learning for precise ergonomic optimization that generalizes to different types of tasks. To ensure practicality and safe experimentations, the training leverages Inverse Kinematics in virtual reality to simulate human movement mechanics. Results of a comparison between the developed framework and ergonomically naive approaches are presented.

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工人与机器人双臂互动中的智能人体工学优化:强化学习方法
机器人有可能通过承担危险任务来提高建筑工地的安全性。虽然现有的物理人机交互(pHRI)安全研究主要针对碰撞风险,但确保协作工作流程的内在安全同样重要。例如,合作操作中的人体工程学优化是 pHRI 的一个重要安全考虑因素。虽然快速全身评估(REBA)等框架已成为这些干预措施的行业标准,但它们缺乏严格的数学结构,这给将它们与优化算法结合使用带来了挑战。以往的研究通过开发易出错或依赖数据的近似或统计方法来解决这一问题。本文提出了一个利用强化学习进行精确人体工程学优化的框架,该框架适用于不同类型的任务。为确保实验的实用性和安全性,训练利用虚拟现实中的逆运动学来模拟人体运动力学。本文介绍了所开发框架与人体工程学方法之间的比较结果。
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来源期刊
Automation in Construction
Automation in Construction 工程技术-工程:土木
CiteScore
19.20
自引率
16.50%
发文量
563
审稿时长
8.5 months
期刊介绍: Automation in Construction is an international journal that focuses on publishing original research papers related to the use of Information Technologies in various aspects of the construction industry. The journal covers topics such as design, engineering, construction technologies, and the maintenance and management of constructed facilities. The scope of Automation in Construction is extensive and covers all stages of the construction life cycle. This includes initial planning and design, construction of the facility, operation and maintenance, as well as the eventual dismantling and recycling of buildings and engineering structures.
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