Human–robot collaboration stands as one of the research frontiers in industrial applications due to the possibility for human operators to be supported by robots in carrying out their tasks in a shared workspace. However, advances in this field can be slowed down by the lack of standards regarding the safety and ergonomics of such applications. This article aims at reducing this gap by presenting an adaptation of the standard ISO 11228-3 for the ergonomic evaluation of hand-guiding applications through the OCRA index. This innovative methodology is innovatively applied to a drilling application in which a human operator hand-guides a collaborative robotic system consisting of a Franka Emika Panda robot, a force/torque sensor and an IMU suit to track the motion of the operator’s body. The SaRAH app, a MATLAB 2020a-based software tool developed on purpose, implements the ergonomic assessment procedure, allowing the proper redesign of the working shift (offline mode) or providing the worker suggestions to improve his/her behavior (online mode) so as to reduce the ergonomic risk.

Monari, E., Avallone, G., Valori, M., Agostini, L., Chen, Y.i., Palazzi, E., et al. (2024). Physical Ergonomics Monitoring in Human–Robot Collaboration: A Standard-Based Approach for Hand-Guiding Applications. MACHINES, 12(4), 1-16 [10.3390/machines12040231].

Physical Ergonomics Monitoring in Human–Robot Collaboration: A Standard-Based Approach for Hand-Guiding Applications

Monari, Eugenio
;
Avallone, Giulia;Agostini, Lorenzo;Vertechy, Rocco
2024

Abstract

Human–robot collaboration stands as one of the research frontiers in industrial applications due to the possibility for human operators to be supported by robots in carrying out their tasks in a shared workspace. However, advances in this field can be slowed down by the lack of standards regarding the safety and ergonomics of such applications. This article aims at reducing this gap by presenting an adaptation of the standard ISO 11228-3 for the ergonomic evaluation of hand-guiding applications through the OCRA index. This innovative methodology is innovatively applied to a drilling application in which a human operator hand-guides a collaborative robotic system consisting of a Franka Emika Panda robot, a force/torque sensor and an IMU suit to track the motion of the operator’s body. The SaRAH app, a MATLAB 2020a-based software tool developed on purpose, implements the ergonomic assessment procedure, allowing the proper redesign of the working shift (offline mode) or providing the worker suggestions to improve his/her behavior (online mode) so as to reduce the ergonomic risk.
2024
Monari, E., Avallone, G., Valori, M., Agostini, L., Chen, Y.i., Palazzi, E., et al. (2024). Physical Ergonomics Monitoring in Human–Robot Collaboration: A Standard-Based Approach for Hand-Guiding Applications. MACHINES, 12(4), 1-16 [10.3390/machines12040231].
Monari, Eugenio; Avallone, Giulia; Valori, Marcello; Agostini, Lorenzo; Chen, Yi; Palazzi, Emanuele; Vertechy, Rocco
File in questo prodotto:
File Dimensione Formato  
machines-12-00231.pdf

accesso aperto

Tipo: Versione (PDF) editoriale
Licenza: Creative commons
Dimensione 7.68 MB
Formato Adobe PDF
7.68 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/969642
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 1
  • ???jsp.display-item.citation.isi??? ND
social impact