DocumentCode :
2059036
Title :
Designing motion guides for ergonomic collaborative manipulation
Author :
Lynch, Kevin M. ; Liu, Caizhen
Author_Institution :
Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
Volume :
3
fYear :
2000
fDate :
2000
Firstpage :
2709
Abstract :
Manual materials handling of heavy loads is a common cause of low back disorders. The manual manipulation of a heavy load may be made more comfortable by constraining the load to move along a guide. If the load is constrained the human operator can provide forces in directions that are comfortable while the frictionless guide directs the motion of the load to the goal configuration. We study the design of such motion guides for ergonomic materials handling. We formulate the problem and provide some example guides for planar manipulation. The motion guides may be implemented by fixed rail systems or by programmable constraint machines (cobots)
Keywords :
ergonomics; man-machine systems; manipulators; materials handling; mobile robots; cobots; ergonomic collaborative manipulation; ergonomic materials handling; fixed rail systems; frictionless guide; heavy loads; motion guides; planar manipulation; programmable constraint machines; Back; Collaboration; Ergonomics; Humans; Intelligent systems; Laboratories; Materials handling; Occupational safety; Rails; Robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
ISSN :
1050-4729
Print_ISBN :
0-7803-5886-4
Type :
conf
DOI :
10.1109/ROBOT.2000.846437
Filename :
846437
Link To Document :
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