Human Comfortability: Integrating Ergonomics and Muscular-Informed Metrics for Manipulability Analysis During Human-Robot Collaboration

The ability to compute a quality index for manipulation tasks, in different configurations, has been widely used robotics. However, it is poorly explored human and physical human-robot collaboration (pHRC). Existing works that evaluate efficiency of often focus only on heurisitic-based, biomechanics or ergonomics methods/tasks. Complementarity between these performance features allows better evaluation more general criteria, applicable across tasks. This letter addressess this gap by generating new metric combines offline pre-computation biomechanics, ergonomics, muscle assessment joint constraints, reducing the online time complexity, enhancing response query time. proposed solution allow us build distribution human's workspace which can be quickly tailored specific tasks filtered design purposes. method simplifies manipulability both task-specific applications and, contrast existing works, suitable real-time and/or resource-limited applications. Numerical evidence shows analysis greatly outperforms previous results terms computing without compromising performance.