4 papers
Interactive Motion Planning for Human-Robot Collaboration Based on Human-Centric Configuration Space Ergonomic Field
Chenzui Li, Yiming Chen, Xi Wu +4
Industrial human-robot collaboration requires motion planning that is collision-free, responsive, and ergonomically safe to reduce fatigue and musculoskeletal risk. We propose the…
Human-Like Robot Impedance Regulation Skill Learning from Human-Human Demonstrations
Chenzui Li, Xi Wu, Yiming Chen +5
Humans are experts in physical collaboration by leveraging cognitive abilities such as perception, reasoning, and decision-making to regulate compliance behaviors based on their pa…
Integrating Ergonomics and Manipulability for Upper Limb Postural Optimization in Bimanual Human-Robot Collaboration
Chenzui Li, Yiming Chen, Xi Wu +2
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing…
Muscle Activation Estimation by Optimizing the Musculoskeletal Model for Personalized Strength and Conditioning Training
Xi Wu, Chenzui Li, Kehan Zou +2
Musculoskeletal models are pivotal in the domains of rehabilitation and resistance training to analyze muscle conditions. However, individual variability in musculoskeletal paramet…