Linyi Liu
ABSTRACT
The heritage restoration of paintings and calligraphy is a labour-intensive process, characterised by repetitive, low-intensity, and high-precision. Two core steps, “lift up the previous” and “fix and maintain”, can lead to muscle fatigue in the upper limbs. In this paper, we develop a human-in-the-loop based human-robot collaboration system that provides real-time force feedback to restorers based on their muscle load and motion intention, with the support strength changing to relieve fatigue. Different robot-aided positions on human arm are explored and a two-point elbow-supporting mechanism is evaluated as the optimal solution. Moreover, a novel muscle load calculation model is developed to integrate human factors into the HRC system with electromyography. The results of a usability experiment show the effectiveness of the proposed method in addressing the current anti-fatigue challenge in heritage paintings and calligraphy restoration.
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Index Terms
- Robotic Systems in Heritage Protection: An Anti-Fatigue Human-Robot Collaboration Exploration for Heritage Painting and Calligraphy Restoration
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