Exoscarne: Assistive Strategies for an Industrial Meat Cutting System Based on Physical Human-Robot Interaction

Musculoskeletal disorders of the wrist are common in the meat industry. A proof of concept of a physical human-robot interaction (pHRI)-based assistive strategy for an industrial meat cutting system is demonstrated which can be transferred to an exoskeleton later. We discuss how a robot can assist a...

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Bibliographic Details
Published in:Applied sciences 2021-05, Vol.11 (9), p.3907
Main Authors: Maithani, Harsh, Corrales Ramon, Juan Antonio, Lequievre, Laurent, Mezouar, Youcef, Alric, Matthieu
Format: Article
Language:English
Subjects:
assistive robotics
Automatic
Collaboration
collaborative robots
Computer Science
Employees
Employment
Engineering Sciences
Exoskeleton
Exoskeletons
Human engineering
Impedance
Industrial development
Load
Meat
Meat industry
Meat processing industry
Musculoskeletal diseases
physical human-robot interaction
Robotics
Robots
Sensors
Wrist
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Summary:Musculoskeletal disorders of the wrist are common in the meat industry. A proof of concept of a physical human-robot interaction (pHRI)-based assistive strategy for an industrial meat cutting system is demonstrated which can be transferred to an exoskeleton later. We discuss how a robot can assist a human in pHRI, specifically in the context of an industrial project i.e for the meat cutting industry. We developed an impedance control-based system that enables a KUKA LWR robot to provide assistive forces to a professional butcher while simultaneously allowing motion of the knife (tool) in all degrees of freedom. We developed two assistive strategies—a force amplification strategy and an intent prediction strategy—and integrated them into an impedance controller.
ISSN:2076-3417
2076-3417
DOI:10.3390/app11093907