HUCOM: A model for human comfort estimation in personalized human-robot collaboration

Weitian Wang; Na Liu; Rui Li; Yi Chen; Yunyi Jia

doi:10.1115/DSCC2018-9245

HUCOM: A model for human comfort estimation in personalized human-robot collaboration

Weitian Wang, Na Liu, Rui Li, Yi Chen, Yunyi Jia

Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

20 Scopus citations

Abstract

Human comfort is significant in human-robot collaboration since it can influence the task efficiency and quality. In this paper, we propose a computational Human Comfort Model (HuCoM) to model and quantify the human comfort during human-robot collaborative manufacturing. Based on the defined primitive comfort rewards and combined comfort rewards, the HuCoM is developed with an incorporation of the static comfort model and the dynamic comfort model. We validate and evaluate the proposed model by several human-robot collaborative tasks via a YuMi robot.

Original language	English
Title of host publication	Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems
Publisher	American Society of Mechanical Engineers (ASME)
ISBN (Electronic)	9780791851906
DOIs	https://doi.org/10.1115/DSCC2018-9245
State	Published - 2018
Event	ASME 2018 Dynamic Systems and Control Conference, DSCC 2018 - Atlanta, United States Duration: 30 Sep 2018 → 3 Oct 2018

Publication series

Name	ASME 2018 Dynamic Systems and Control Conference, DSCC 2018
Volume	2

Conference

Conference	ASME 2018 Dynamic Systems and Control Conference, DSCC 2018
Country/Territory	United States
City	Atlanta
Period	30/09/18 → 3/10/18

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10.1115/DSCC2018-9245

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Wang, W., Liu, N., Li, R., Chen, Y., & Jia, Y. (2018). HUCOM: A model for human comfort estimation in personalized human-robot collaboration. In Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems (ASME 2018 Dynamic Systems and Control Conference, DSCC 2018; Vol. 2). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2018-9245

Wang, Weitian ; Liu, Na ; Li, Rui et al. / HUCOM : A model for human comfort estimation in personalized human-robot collaboration. Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems. American Society of Mechanical Engineers (ASME), 2018. (ASME 2018 Dynamic Systems and Control Conference, DSCC 2018).

@inproceedings{2b523413ce414ffc8ae9469cc90fbdbc,

title = "HUCOM: A model for human comfort estimation in personalized human-robot collaboration",

abstract = "Human comfort is significant in human-robot collaboration since it can influence the task efficiency and quality. In this paper, we propose a computational Human Comfort Model (HuCoM) to model and quantify the human comfort during human-robot collaborative manufacturing. Based on the defined primitive comfort rewards and combined comfort rewards, the HuCoM is developed with an incorporation of the static comfort model and the dynamic comfort model. We validate and evaluate the proposed model by several human-robot collaborative tasks via a YuMi robot.",

author = "Weitian Wang and Na Liu and Rui Li and Yi Chen and Yunyi Jia",

note = "Publisher Copyright: Copyright {\textcopyright} 2018 ASME; ASME 2018 Dynamic Systems and Control Conference, DSCC 2018 ; Conference date: 30-09-2018 Through 03-10-2018",

year = "2018",

doi = "10.1115/DSCC2018-9245",

language = "English",

series = "ASME 2018 Dynamic Systems and Control Conference, DSCC 2018",

publisher = "American Society of Mechanical Engineers (ASME)",

booktitle = "Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems",

}

Wang, W, Liu, N, Li, R, Chen, Y & Jia, Y 2018, HUCOM: A model for human comfort estimation in personalized human-robot collaboration. in Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems. ASME 2018 Dynamic Systems and Control Conference, DSCC 2018, vol. 2, American Society of Mechanical Engineers (ASME), ASME 2018 Dynamic Systems and Control Conference, DSCC 2018, Atlanta, United States, 30/09/18. https://doi.org/10.1115/DSCC2018-9245

HUCOM: A model for human comfort estimation in personalized human-robot collaboration. / Wang, Weitian; Liu, Na; Li, Rui et al.
Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems. American Society of Mechanical Engineers (ASME), 2018. (ASME 2018 Dynamic Systems and Control Conference, DSCC 2018; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - HUCOM

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AU - Wang, Weitian

AU - Liu, Na

AU - Li, Rui

AU - Chen, Yi

AU - Jia, Yunyi

PY - 2018

Y1 - 2018

N2 - Human comfort is significant in human-robot collaboration since it can influence the task efficiency and quality. In this paper, we propose a computational Human Comfort Model (HuCoM) to model and quantify the human comfort during human-robot collaborative manufacturing. Based on the defined primitive comfort rewards and combined comfort rewards, the HuCoM is developed with an incorporation of the static comfort model and the dynamic comfort model. We validate and evaluate the proposed model by several human-robot collaborative tasks via a YuMi robot.

AB - Human comfort is significant in human-robot collaboration since it can influence the task efficiency and quality. In this paper, we propose a computational Human Comfort Model (HuCoM) to model and quantify the human comfort during human-robot collaborative manufacturing. Based on the defined primitive comfort rewards and combined comfort rewards, the HuCoM is developed with an incorporation of the static comfort model and the dynamic comfort model. We validate and evaluate the proposed model by several human-robot collaborative tasks via a YuMi robot.

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U2 - 10.1115/DSCC2018-9245

DO - 10.1115/DSCC2018-9245

M3 - Conference contribution

AN - SCOPUS:85057330932

T3 - ASME 2018 Dynamic Systems and Control Conference, DSCC 2018

BT - Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems

PB - American Society of Mechanical Engineers (ASME)

Y2 - 30 September 2018 through 3 October 2018

ER -

Wang W, Liu N, Li R, Chen Y, Jia Y. HUCOM: A model for human comfort estimation in personalized human-robot collaboration. In Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems. American Society of Mechanical Engineers (ASME). 2018. (ASME 2018 Dynamic Systems and Control Conference, DSCC 2018). doi: 10.1115/DSCC2018-9245

HUCOM: A model for human comfort estimation in personalized human-robot collaboration

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