Interactive Motion Planning for Human-Robot Collaboration Based on Human-Centric Configuration Space Ergonomic Field

• URL: http://arxiv.org/abs/2512.14111v1
• Date: Tue, 16 Dec 2025 05:46:38 GMT
• Title: Interactive Motion Planning for Human-Robot Collaboration Based on Human-Centric Configuration Space Ergonomic Field
• Abstract summary: We propose a continuous and differentiable field over the human joint space that quantifies ergonomic quality and provides gradients for real-time ergonomics-aware planning.<n>An efficient algorithm constructs CSEF from established metrics with joint-wise weighting and task conditioning, and we integrate it into a gradient-based planner compatible with impedance-controlled robots.<n> Hardware experiments with a dual-arm robot in unimanual guidance, collaborative drilling, and bimanual cocarrying show faster ergonomic cost reduction, closer tracking to optimized joint targets, and lower muscle activation than a point-to-point baseline.
• Score: 16.846386153603728
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Industrial human-robot collaboration requires motion planning that is collision-free, responsive, and ergonomically safe to reduce fatigue and musculoskeletal risk. We propose the Configuration Space Ergonomic Field (CSEF), a continuous and differentiable field over the human joint space that quantifies ergonomic quality and provides gradients for real-time ergonomics-aware planning. An efficient algorithm constructs CSEF from established metrics with joint-wise weighting and task conditioning, and we integrate it into a gradient-based planner compatible with impedance-controlled robots. In a 2-DoF benchmark, CSEF-based planning achieves higher success rates, lower ergonomic cost, and faster computation than a task-space ergonomic planner. Hardware experiments with a dual-arm robot in unimanual guidance, collaborative drilling, and bimanual cocarrying show faster ergonomic cost reduction, closer tracking to optimized joint targets, and lower muscle activation than a point-to-point baseline. CSEF-based planning method reduces average ergonomic scores by up to 10.31% for collaborative drilling tasks and 5.60% for bimanual co-carrying tasks while decreasing activation in key muscle groups, indicating practical benefits for real-world deployment.

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