Abstract
In the imitation of human motion for humanoid robots, the variation of the motion should be satisfied, i.e., the efficiency of the paths and stability of the whole body. In ergonomics, reach zones have been defined to indicate safe and efficient positions of both hands for human movements. In a neutral zone of the reach zone, the humans can move using only their arms without other bodies. Outside of the neutral zone, humans need to use the torso and legs for the far target position of the hands, it is harmful to the chest and the legs. In this research, we believe that the robot can conduct the task outside the neutral zone instead of the human. In this paper, we measure the putting and pulling movement of shelf, which is necessary for a convenience store, to check the effect of each reach zone in a Virtual Reality environment. To verify the effect of each reach zone in the ergonomics, we change the distance between the shelf, which has a box to move, and the torso of the human as a percentage of the length of the human hand. In the evaluation of the posture of the torso and legs, it was found that the participants used their torso and knees more in the distance considered to be the maximum reach zone than in the distance considered to be the neutral zone.
This work was supported by JSPS KAKENHI Grant Numbers JP21K13487.
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Tsuichihara, S., Watanabe, Y., Hara, K., Takahashi, Y. (2022). Effect Analysis of Each Reach Zone in Ergonomics During Putting and Pulling Movement of Shelf on VR Experiment. In: Duffy, V.G., Rau, PL.P. (eds) HCI International 2022 – Late Breaking Papers: Ergonomics and Product Design. HCII 2022. Lecture Notes in Computer Science, vol 13522. Springer, Cham. https://doi.org/10.1007/978-3-031-21704-3_21
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DOI: https://doi.org/10.1007/978-3-031-21704-3_21
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