Section: Partnerships and Cooperations

Regional Initiatives

Woobot

The main objective of Woobot is to propose a methodology for designing and controlling a collaborative robotic system to assist and secure an operator's actions. The system must preserve the health and sensory expertise of the operator while guaranteeing his or her mobility. Motivated by a pilot case from carpentry, the determination of the behavior of the collaborative robot will be based on a human-centered approach and based on a precise ergonomic analysis of the task and the biomechanical performances and needs of the operator. Two scientific issues are important: the choice of the system architecture (type of collaborative robot, number of degrees of freedom, level of redundancy with respect to the task, type of interaction of the collaborative robot with the task and/or the human...), and the behavior of the collaborative robot that must be implemented in the control. To answer these questions, it is then necessary to consider in the same formalism the human and task constraints from the point of view of:

• of the performance necessary for the task (cutting forces, trajectories);

• of the operator's biomechanical performance (kinematics -i.e. dexterity; static -i.e. manipulability and human dynamics).

• ergonomic (task, work environment, human posture).