HERR-MAN

The main objective of the HERR-MAN project is to improve the comfort and ergonomics aspects for the human in physical and permanent interaction with a collaborative robot for co-manipulation tasks of deformable objects. To this end, a safe and acceptable physical interaction for the human must be ensured. Moreover, a cognitive assistance for the human during the collaborative task is often necessary. To address these scientific challenges, the project aims to consider human ergonomic criteria and deformable object models in robot control strategies, considering human’s morphology, physical capabilities and other physiological information such as fatigue. The project also plans to assist the human with a visual assistance through a virtual/mixed reality, informing about the collaborative situation, and its anticipation. This requires integrating the biomechanical and dynamic models of the human-object-robot system in physical interaction and the perception of the deformable object, in the strategies of motion generation and robot control. Thus, this project aims at a full human-robot collaboration integrating human ergonomics and visual assistance. The main applications are in the future industry and in the medical field for assistance and rehabilitation.