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simmediummobile-manipulationmetric · varies
Towards Online Robot Interaction Adaptation to Human Upper-limb Mobility Impairments in Return-to-Work Scenarios
Description
Work environments are often inadequate and lack inclusivity for individuals with upper-body disabilities. This paper presents a novel online framework for adaptive human-robot interaction (HRI) that accommodates users' arm mobility impairments, ultimately aiming to promote active work participation. Unlike traditional human-robot collaboration approaches that assume able-bodied users, our method integrates a mobility model for specific joint limitations into a hierarchical optimal controller. Th