@inproceedings {pub4099,
	title = {Optimizing Ergonomics in Sequential Human-Robot Physical Cooperation Tasks
},
	author = {Linda Spaa, van der AND Michael Gienger AND Tamas Bates AND Jens Kober},
	year = {2020},
	month = {May},
	abstract = {This paper presents a method which incorporates human ergonomics in the optimization of sequential bi-manual physical human-robot interaction tasks. The physical interaction tasks comprise joint transport and rotation of objects too large to be handled in a comfortable or safe way by either robot or human alone. We predict the future ergonomic cost of the human partner in a task in which the robot has continuous physical interaction with this partner, and use this predicted ergonomic cost in the optimization of the sequential task. Simulation results of this ergonomic planner show significant improvement of the human partner ergonomic behavior compared to a non-ergonomic baseline planner. These results are confirmed by experiments with a 32 DoF bi-manual mobile robot.},
	publisher = {IEEE},
	booktitle = {ICRA 2020 / RA-L}
}