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Multi-objective Trajectory Optimization to Improve Ergonomics in Human Motion

Waldez Gomes 1 Pauline Maurice 1 Eloïse Dalin 1 Jean-Baptiste Mouret 1 Serena Ivaldi 1
1 LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment
Inria Nancy - Grand Est, LORIA - AIS - Department of Complex Systems, Artificial Intelligence & Robotics
Abstract : Work-related musculoskeletal disorders are a major health issue often caused by awkward postures. Identifying and recommending more ergonomic body postures requires optimizing the worker's motion with respect to ergonomics criteria based on the human kinematic/kinetic state. However, many ergonomics scores assess different risks at different places of the human body, and therefore, optimizing for only one score might lead to postures that are either inefficient or that transfer the risk to a different location. We verified, in two work activities, that optimizing for a single ergonomics score may lead to motions that degrade scores other than the optimized one. To address this problem, we propose a multi-objective optimization approach that can find better Pareto-optimal tradeoff motions that simultaneously optimize multiple scores. Our simulation-based framework is also user-specific and can be used to recommend ergonomic postures to workers with different body morphologies. Additionally, it can be used to generate ergonomic reference trajectories for robot controllers in human-robot collaboration.
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https://hal.archives-ouvertes.fr/hal-03281827
Contributor : Waldez Gomes Connect in order to contact the contributor
Submitted on : Thursday, July 8, 2021 - 2:52:53 PM
Last modification on : Thursday, October 28, 2021 - 4:09:58 AM
Long-term archiving on: : Saturday, October 9, 2021 - 6:53:28 PM

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ergo_multiObj_2021.pdf
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  • HAL Id : hal-03281827, version 1

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Waldez Gomes, Pauline Maurice, Eloïse Dalin, Jean-Baptiste Mouret, Serena Ivaldi. Multi-objective Trajectory Optimization to Improve Ergonomics in Human Motion. 2021. ⟨hal-03281827v1⟩

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