Projet Description
The main objective of HERR-MAN project is to improve the effectiveness, comfort and ergonomics in physical and continuous human-robot collaboration while carrying and co-manipulating heavy objects with deformability. We target cases such as comanipulation of acrylic and metal sheets, which deform in a non-trivial manner. In particular, we are interested in the sensing and the control of the position and the deformation of the object during the task.
Scientific gaps
- Introduction of the object's deformation in human-robot interaction
- Estimation of the human operator's intent based on deformation information
- Control for safe and effective collaboration
Partners
- Laboratoire Génie de Production (LGP-ENIT), Université Technologique de Tarbes Occitanie Pyrénées, France
- Institut des Sciences du Mouvement Jules-Etienne Marey, Aix-Marseille Université, France
- Information Processing and Systems, Office national d'études et de recherches aérospatiales (ONERA), France
Funding
- French national research agency (ANR), grant number ANR-23-CE10-0008-02
