3.1.1 Scientific Context

The purpose of this axis is to provide metrics to assess human behavior. We place ourselves here from the point of view of the human being and more precisely of the industrial operator. We assume the following working hypotheses: the operator's task and environmental conditions are known and circumscribed; the operator is trained in the task, production tools and safety instructions; the task is repeated with more or less frequent intervals. We focus our proposals on assessing:

• the physical and cognitive fragility of operators in order to meet assistance needs;
• cognitive biases and physical constraints leading to a loss of operator safety;
• ergonomic, performance and acceptance of the production tool.

In the industrial context, the fields that best answer these questions are work ergonomics and cognitive sciences. Scientists typically work on 4 axes: physiological/biomechanical, cognitive, psychological and sociological. More specifically, we focus on biomechanical, cognitive and psychological aspects, as described by the ANACT 18, 19. The aim here is to translate these factors into metrics, optimality criteria or constraints in order to implement them in our methodologies for analysis, design and control of the collaborative robot.

To understand our desired contributions in robotics, we must review the current state of ergonomic workstation evaluation, particularly at the biomechanical level. The ergonomist evaluates the gesture through the observation of workstations and, generally, through questionnaires. This requires long periods of field observation, followed by analyses based on ergonomic grids (e.g. RULA 35, REBA 25, LUBA 30, OWAS 29, ROSA 51,...). Until then, the use of more complex measurement systems was reserved for laboratories, particularly biomechanical laboratories. The appearance of inexpensive sensors such as IMUs (Inertial Measurement Units) or RGB-D cameras makes it possible to consider a digitalized, and therefore objective, observation of the gesture, postures and more generally of human movement. Thanks to these sensors, which are more or less intrusive, it is now possible to permanently install observation systems on production lines. This completely changes paradigms and opens the door to longitudinal observations. It should be noted that this is comparable to the evolution of maintenance, which becomes predictive.

On the strength of this new paradigm, ergonomic robotics has recently taken an interest in this type of evaluation to adapt the robot's movements in order to reduce ergonomic risk scores. This approach complements the more traditional approaches that only consider the performance of the action produced by the human in interaction with the robot. However, we must go further. Indeed, the ergonomic criteria are based on the principle that the comfort positions are distant from the human joints articular limits. In addition, the notation must be compatible with an observation of the human being through the eye of the ergonomist. In practice, evaluations are inaccurate and subjective 54. Moreover, they are made for quasi-static human positions without taking into account the evolution of the person's physical, physiological and psychological state. The repetition of gestures, the solicitation of muscles and joints is one of the questions that must complete these analyses. One of the methods used by ergonomists to limit biomechanical exposures is to increase variations in motor stress by rotating tasks 52. However, this type of extrinsic method is not always possible in the industrial context 33.

One of Auctus' objectives is to show how, through a cobot, the operator's environment can be varied to encourage more appropriate motor strategies. To do so, we must focus on a field of biomechanics that studies the intrinsic variability of the motor system allowed by the joint redundancy of the human body. This motor variability refers to the natural alternation of postures, movements and muscle activity observed in the individual to respond to a requested task 52. This natural variation leads to differences between the motor coordinates used by individuals, which evokes the notion of motor strategy 26.

As shown by the cognitive dimension of ergonomics (see above), we believe that some of these motor strategies are a physically quantifiable reflection of the operator's cognitive state. For example, fatigue 48 and its anticipation or the manual expertise (dexterous and cognitive) of the operator which allows him to anticipate his movements over long periods of time in order to preserve his body, his performance and his pain.

3.1.2 Methodology

How can we observe, understand and quantify these human motor strategies to better design and control the behavior of the cobotic assistant? When we study the systems of equations considered (kinematic, static, dynamic, musculoskeletal), several problems appear and explain our methodological choices:

• the large dimensions of the problems to be considered, due to joint, muscle and placement redundancy;
• the variabilities of the parameters, for example: physiological (consider not an operator, but a set of operators), geometric (consider a set of possible placements of the operator) and static (consider a set of forces that the operator must produce);
• the uncertainties of measurement and models approximation.

The idea is to start from a description of redundant workspaces (geometric, static, dynamic...). To do this, we use set theory approaches, based on interval analysis 3, 41, which allow us to respond to the uncertainties and variability issues previously mentioned. In addition, one of the advantages of these techniques is that they allow the results to be certified, which is essential to address safety issues. Some members of the team has already achieved success in mechanical design for performance certification and robot design 37. The adaptation of these approaches allows us to obtain a mapping of ergonomic and efficient movements in which we can project the operators' motor strategies and thus define a metric quantifying the sensorimotor commands chosen with regard to the cognitive criteria studied.

It is therefore necessary to:

• propose new indices in the fields of ergonomics, biomechanics and robotics linking different types of performances and taking into account the influence of fatigue, stress, level of expertise;
• divide the gesture into homogeneous phases: this process is complex and depends on the type of index used and the techniques used. We are exploring several ways: inverse optimal control, learning methods, or the use of techniques from signal processing;
• develop interval extensions of the identified indices. These indices are not necessarily the result of a direct model, and algorithms need to be developed or adapted (calculation of manipulability, UCM, etc.);
• Aggregate proposals into a dedicated interval analysis library (use of and contribution to the existing ALIAS-Inria and the open source IBEX library).

The originality and contribution of the methodology is to allow an analysis taking into account in the same model the measurement uncertainties (important for on-site use of analytical equipment), the variability of tasks and trajectories, and the physiological characteristics of the operators.

Other avenues of research are being explored, particularly around the inverse optimal control 42 which allows us to project human movement on the basis of performance indices and thus to offer a possible interpretation in the analysis of behaviors.

We also use automatic classification techniques: 1) to propose cognitive models that will be learned experimentally 2) for segmentation or motion recognition, for example by testing Reservoir Computing 27 approaches.

3.2.1 Scientific Context

Thanks to the progress made in recent years in the field of p-HRI (Physical Human-Robot Interaction), robotic systems are beginning to operate in the same workspace as humans, which is profoundly changing industrial issues and allowing a wide variety of human-robot coupling solutions to be considered to perform the same task 20. Different types of interactions exist. They can be classified in different ways: according to the degree of autonomy of the robot and its proximity to the user 24 with particularities for “wearable robots” 22, 23, or for collaborative robotics 53, or according to the role of the human being 49. From a cognitive point of view, classifications are more concerned with autonomy, the complexity of information processing and the type of communication and representation of the human being by the robot 40, 55.

We proposed a classification of cobotic systems according to the configuration of the schema of interactions between humans, robots and the environment 38, 47.

The parameters of the coupling being numerous and complex, the determination of the most appropriate type of coupling for a type of problem is an open problem 43, 2, 39, 34. The traditional approach consists in trying to identify and classify the various possible options and to select the one that seems most relevant with regard to the feasibility, efficiency, budget envelope and acceptability of the operator. One of the main objectives of our research project is to define a typology of cobots or cobotic systems in order to specify the methodology for developing the best solution: what are the criteria for defining the best robotic architecture, what type of coupling, what autonomy of the robot, what role for the operator, what risks for the human, what overall performance? These are the key issues that need to be addressed. To meet this methodological need, we propose an approach guided by experience on use cases obtained thanks to our industrial partners.

3.2.2 Methodology

Task analysis and human behavior modelling, discussed in the previous sections, should help to characterize the different types of coupling and interaction modalities, their advantages and disadvantages, in order to assist in the decision-making process. One of the ideas we would like to develop is to try to break down the task into a sequence of elementary gestures corresponding to simple motor actions performed in a clearly identified context and to evaluate for each of them the degree of feasibility in automatic mode or in robot assistance mode. The assessment must take into account a large number of parameters that relate to physical interactions, human-robot communication, reliability and human factors, including acceptability and impact on the valuation or devaluation of the operator's work. Concerning the evaluation of human factors, we have already begun to work on the subject within the more general framework of human systems interactions by operating Bayesian networks, drawing inspiration from the work of 21, 46.

The adoption of assessment criteria for a single domain (e. g. robotics or ergonomics) cannot guarantee that the performance of this coupling will be maximized. From design to evaluation, cross-effects must be constantly considered:

• impact of the cobot design on the user's performance: intuitiveness, adaptation to intra- and inter-individual variations, affordance, stress factors (noise, vibrations,...), fatigue factors (control laws, necessary attention,...) and motivation factors (effectiveness, efficiency, aesthetics,...);
• impact of the cobot design on the specific biomechanical constraints imposed on the human body (extra weight supported by the operator, additional joint reaction forces generated at the joints);
• impact of user performance on cobot exploitation: risks of human error (attention error, perseveration, circumvention of procedures, out-of-the-loop syndrome) 21.

In addition to purely physical assistance, some cobotic systems are designed to assist the operator in his decision-making. The issues of trust, acceptance, sharing of representations and co-construction of a shared awareness of the situation are then to be addressed 50.

3.3.1 Architectural design

Is it necessary to cobotize, robotize or assist the human being? Which mechanical architecture meets the task challenges (a serial cobot, a specific mechanism, an exoskeleton)? What type of interaction (H/R cohabitation, comanipulation, teleoperation)? These questions are the first requests from our industrial partners. For the moment, we have few comprehensive methodological answers to provide them. Choosing a collaborative robot architecture is a difficult problem 31. It is all the more when the questions are approached from both a cognitive ergonomics, boimechanical and robotics perspectives. There are indeed major methodological and conceptual differences in these areas. It is therefore necessary to bridge these representational gaps and to propose an approach that takes into consideration the expectations of the robotician to model and formalize the general properties of a cobotic system as well as those of the ergonomist to define the expectations in terms of an assistance tool.

To do this, we propose a user-centered design approach, with a particular focus on human-system interactions. From a methodological point of view, this requires first of all the development of a structured experimental approach aimed at characterizing the task to be carried out through a “system” analysis but also at capturing the physical markers of its realization: movements and efforts required, ergonomic stress. This characterization must be done through the prism of the systematic study of the exchange of information (and their nature) by humans in their performance of the considered task. On the basis of these analyses, the main challenge is to define a decision support tool for the choice of the robotic architecture and for the specifications of the role assigned to the robot and the operator as well as their interactions.

The evolution of the chosen methodology is for the moment empirical, based on the user cases regularly treated in the team (see sections on contracts and partnerships).

It can be summarized for the moment as:

• identify difficult jobs on industrial sites. This is done through visits and exchanges with our partners (manager, production manager, ergonomist...);
• select some of them, then observe the human in its ecological environment. Our tools allow us to produce a motion analysis, currently based on ergonomic criteria. In parallel we carry out a physical evaluation of the task in terms of expected performance and an evaluation of the operator by means of questionnaires;
• synthesize these first results to deduce the robotic architectures to be initiated, the key points of human-robot interaction to be developed, the difficulties in terms of human factors to be taken into account.

In addition, the different human and task analyses take advantage of the different expertise available within the team. We would like to gradually introduce the evaluation criteria presented above. Indeed, the team has already worked on the current dominant approach: the use of a virtual human to design the cobotic cell through virtual tools 1. However, the very large dimensions of the problems treated (modelling of the body's dofs and the constraints applied to it) makes it difficult to carry out a certified analysis. We then choose to go through the calculation of the body's workspace, representing its different performances, which is not yet done in this field. The idea here is to apply set theory approaches, using interval analysis already discussed in section 3.1.2. The goal is then to extend to intervals the constraints played in virtual reality during the simulation. This would allow the operator to check his trajectories and scenarios not only for a single case study but also for sets of cases. For example, it can be verified that, regardless of the bounded sets of simulated operator physiologies, the physical constraints of a simulated trajectory are not violated. Thus, the assisted design tools certify cases of use as a whole. Moreover, the intersection between the human and robot workspaces provides the necessary constraints to certify the feasibility of a task. This allows us to better design a cobotic system to integrate physical constraints. In the same way, we will look for ways in which human cognitive markers can be included in this approach.

Thus, we summarize here the contributions of the other research axes, from the analysis of human behavior in its environment for an identified task, to the choice of a mechanical architecture, via an evaluation of torque and interactions. All the previous analyses provide design constraints. This methodological approach is perfectly integrated into an Appropriate Design approach used for the dimensional design of robots, again based on interval analysis. Indeed, to the desired performance of the human-robot couple in relation to a task, it is sufficient to add the constraints limiting the difficulty of the operator's gesture as described above. The challenges are then the change of scale in models that symbiotically consider the human-robot pair, the uncertain, flexible and uncontrollable nature of human behavior and the many evaluation indices needed to describe them.

3.3.2 Control design

The control laws of collaborative robots from the major robot manufacturers differ little or not at all from the existing control laws in the field of conventional industrial robotics. Security is managed a posteriori, as an exception, by a security PLC / PC. It is therefore not an intrinsic property of the controller. This quite strongly restricts the possibilities of physical interaction 1 and collaboration and leads to sub-optimal operation of the robotic system. It is difficult in this context to envision real human-robot collaboration. Collaborative operation requires, in this case, a control calculation that integrates safety and ergonomics as a priori constraints.

The control of truly collaborative robots in an industrial context is, from our point of view, underpinned by two main issues. The first is related to the macroscopic adaptation of the robot's behaviour according to the phases of the production process. The second is related to the fine adaptation of the degree and/or nature of the robot's assistance according to the ergonomic state of the operator. If this second problem is part of a historical dynamic in robotics that consists in placing safety constraints, particularly those related to the presence of a human being, at the heart of the control problem 2436, 28, it is not approached from the more subtle point of view of ergonomics where the objective cannot be translated only in terms of human life or death, but rather in terms of long-term respect for their physical and mental integrity. Thus, the simple and progressive adoption by a human operator of the collaborative robot intended to assist him in his gesture requires a self-adaptation in the time of the command. This self-adaptation is a fairly new subject in the literature 44, 45.

At the macroscopic level, the task plan to be performed for a given industrial operation can be represented by a finite state machine. In order not to increase the human's cognitive load by explicitly asking him to manage transitions for the robot, we propose to develop a decision algorithm to ensure discrete transitions from one task (and the associated assistance mode) to another based on an online estimate of the current state of the human-robot couple. The associated scientific challenge requires establishing a link between the robot's involvement and a given working situation. To do so, we propose an incremental approach to learning this complex relationship. The first stage of this work will consist in identifying the general and relevant control variables to conduct this learning in an efficient and reusable way, regardless of the particular method of calculating the control action. Physically realistic simulations and real word experiments will be used to feed this learning process.

In order to handle mode transitions, we propose to explore the richness of the multi-tasking control formalism under constraints 32 in order to ensure a continuous transition from one control mode to another while guaranteeing compliance with a certain number of control constraints. Some of these constraints are based on ergonomic specifications and are dependent on the state of the robot and of the human operator, which, by nature, is difficult to predict accurately. We propose to exploit the interval analysis paradigm to efficiently formulate ergonomic constraints robust to the various existing uncertainties.

Purely discrete or reactive adaptation of the control law would make no sense given the slow dynamics of certain physiological phenomena such as fatigue. Thus, we propose to formulate the control problem as a predictive problem where the impact of the control decision at a time $t$ is anticipated at different time horizons. This requires a prediction of human movement and knowledge of the motor variability strategies it employs. This prediction is possible on the basis of the supervision at all times of the operational objectives (task in progress) in the short term. However, it requires the use of a virtual human model and possibly a dynamic simulation to quantify the impact of these potential movements in terms of performance, including ergonomics. It is impractical to use a predictive command with simulation in the loop with an advanced virtual manikin model. We therefore propose to adapt the prediction horizon and the complexity of the corresponding model in order to guarantee a reasonable computational complexity.

The planned developments require both an approach to modelling human sensorimotor behaviour, particularly in terms of accommodating fatigue via motor variability, and validating related models in an experimental framework based on observation of movement and quantification of ergonomic performance. Experimental developments must also focus on the validation of proposed control approaches in concrete contexts. To begin with, the Woobot project related to gesture assistance for carpenters (Nassim Benhahib's thesis) and a collaboration currently being set up with Safran on assistance to operators in shrink-wrapping tasks (manual knotting) in aeronautics are rich enough background elements to support the research conducted. Collaborative research projects with PSA will also soon provide a larger set of contexts in which the proposed research can be validated.

6.1.1 WoobotSim

• Keywords: Robotics, Dynamic Analysis
• Functional Description: WoobotSim is a simulator that reports the dynamics of the parties involved in an industrial task implying a strong interaction between a machine tool, an operator and a handled object, it also offers the possibility to add a cobot as an actor. Developed on Matlab, this simulator allows to visualize the efforts exchanged by the participants during the task, as well as the dynamics of the object being manipulated. For the specific case of woodworking shaper. It includes a wood cutting model. A model of task control by the craftsman and a model of the robot.
• Contacts: Nassim Benhabib, Vincent Padois

6.1.2 WoobotCtrl

• Keywords: Control, Robot Panda, Synchronization
• Functional Description:

  WoobotCtrl is a set of ROS packages that provide control of a collaborative robot with 7 degrees of freedom (Franka's PANDA) in order to reproduce the cutting forces experienced by an operator during a wood shaping task.

  Developed in C++, WoobotCtrl also manages the real-time acquisition and synchronization of data from multiple sensors (Kinect, force sensors, robot sensors). As well as the pre-shrinking of the data.

• Contacts: Nassim Benhabib, Vincent Padois

6.1.3 rtt_panda

• Name: rtt_panda
• Keywords: OROCOS component, Robot Operating System (ROS), Robotics, Simulation
• Functional Description:

  A set of tools to control a robot with the OROCOS toolchain software.

  Implemented tools: a library using KDL to modelize the robot , a wrapper for qpOASES , a Cartesian trajectory generator using KDL , a cartesian PID controller , a library to publish OROCOS port to ROS topics , a driver for the Panda Franka Emika robot , a Gazebo plugin , a set of tool to launch the scripts for the panda

• URL: https://gitlab.inria.fr/auctus/panda/rtt_panda
• Author: Lucas Joseph
• Contacts: Lucas Joseph, Vincent Padois

6.1.4 torque_qp

• Name: torque_qp
• Keywords: Robot Operating System (ROS), Robot Panda, Simulation, Robotics
• Scientific Description: Formulation of a control problem as a constrained optimization problem at the joint torque level.
• Functional Description: This software is a control architecture for the Franka Emika Panda robot. The control problem is formulated as a constrained optimization at the joint torque level. This software is interfaced with Gazebo for simulaton, and the franka_ros packages for sending the desired velocity to the real robot.
• URL: https://gitlab.inria.fr/auctus/panda/torque_qp
• Author: Lucas Joseph
• Contacts: Lucas Joseph, Vincent Padois

6.1.5 velocity_qp

• Name: velocity_qp
• Keywords: Robotics, Robot Operating System (ROS), Robot Panda, Simulation
• Scientific Description: Formulation of a control problem as a constrained optimization problem at the joint velocity level.
• Functional Description: This software is a control architecture for the Franka Emika Panda robot. The control problem is formulated as a constrained optimization at the joint velocity level. This software is interfaced with Gazebo for simulaton, and the franka_ros packages for sending the desired velocity to the real robot.
• URL: https://gitlab.inria.fr/auctus/panda/velocity_qp
• Author: Lucas Joseph
• Contacts: Lucas Joseph, Vincent Padois

6.1.6 KCADL

• Name: Kinematic Chain Appropriate Design Library
• Keywords: Interval analysis, Uncertainty, Kinematics
• Functional Description: Software for the modelling and analysis of imprecise serial kinematic chains. Chain objects are built by iteratively adding rigid-body segments with associated joint connections (e.g., fixed, revolute, prismatic). Several standard options are provided to model each segment (e.g., Denavit-Hartenberg parameters, transformation matrices, twists). Each option accepts interval and non-interval arguments, allowing to model the uncertainties and variabilities of imprecise serial kinematic chains and also the conventional precise serial kinematic chains. Forward Kinematic (FK) and Inverse Kinematic (IK) solvers are available for Chain objects. The FK solver computes an outer bound of the set of poses associated with a set of joint configurations. The IK solver computes an outer bound of the set of joint configurations associated with a set of poses.
• URL: https://gitlab.inria.fr/auctus/kinematic-chain-appropriate-design-library
• Publication: hal-02367664, version 1
• Contacts: Joshua Pickard, David Daney, Nasser Rezzoug, Vincent Padois
• Participants: Joshua Pickard, David Daney, Nasser Rezzoug, Vincent Padois

6.1.7 ForcePolySearch

• Name: On-line force capability evaluation based on efficient polytope vertex search
• Keywords: Robotics, Kinematics, SVD, Real-time application
• Scientific Description: Ellipsoid-based manipulability measures are often used to characterize the force / velocity task-space capabilities of robots. While computationally simple, this approach largely approximate and underestimate the true capabilities. Force / velocity polytopes appear to be a more appropriate representation to characterize robot's task-space capabilities. However, due to the computational complexity of the associated vertex search problem, the polytope approach is mostly restricted to offline use, e.g. as a tool aiding robot mechanical design, robot placement in work-space and offline trajectory planning. In this paper, a novel on-line polytope vertex search algorithm is proposed. It exploits the parallelotop geometry of actuator constraints. The proposed algorithm significantly reduces the complexity and computation time of the vertex search problem in comparison to commonly used algorithms. In order to highlight the on-line capability of the proposed algorithm and its potential for robot control, a challenging experiment with two collaborating Franka Emika Panda robots, carrying a load of 12 kilograms, is proposed. In this experiment, the load distribution is adapted on-line, as a function of the configuration dependant task-space force capability of each robot, in order to avoid, as much as possible, the saturation of their capacity.
• Functional Description: Software implementing new online capable polytope vertex search algorithm developed for force capacity evaluation of serial robotic manipulators, described in the paper: On-line force capability evaluation based on efficient polytope vertex search. The algorithm is capable of finding the vertices of force polytopes for 7DOF robot under 3 ms and 6DOF robot under 2 ms. Software repository consists of Matlab/Octave implementation intended for fast prototyping and benchmarking as well as Python module for easier integration in larger projects.
• URL: https://gitlab.inria.fr/askuric/polytope_vertex_search
• Publication: hal-02993408
• Contacts: Antun Skuric, Vincent Padois, David Daney

6.1.8 keyence_laser_tracker

• Name: keyence_laser_tracker
• Keyword: Driver
• Functional Description: A ROS package interfacing the Keyence SZ-V32N device. It allows the configuration of the device and periodically get the information distance measured by the device through UDP. A ROS message is published with all the laser information.
• URL: https://gitlab.inria.fr/auctus/panda/keyence
• Author: Lucas Joseph
• Contacts: Lucas Joseph, Vincent Padois

6.1.9 ospi2urdf

• Keywords: 3D, Robotics, Biomechanics
• Functional Description:

  Opensim is a motion modelling and simulation tool, mainly used in biomechanics. It addresses a number of issues related to the manipulation of biological bodies (calculation of muscular forces, precise modelling of musculoskeletal models based on experimental data, management of data from motion capture systems).

  A number of robotics projects linking robots and humans could benefit from the functionalities of this tool for modelling the upper body of a human being in real time. This is why the objective of this project is to combine some of the functionalities of Opensim with ROS packages dedicated to the modelling, control and analysis of the movement of polyarticulated robotic systems (torque_qp, Pinocchio).

  One of the paths currently being explored is to use OpenSim and ROS packages together for the same model of a human being. As the modeling format of Opensim models (.osim) is not the same as the one classically used by the ROS packages (.urdf), it is first necessary to convert the .osim format to .urdf. A library is being created for this purpose.

  Once this library is completed, it will be possible to create the framework allowing the use of OpenSim functionalities to the packages used for the management of polyarticulated systems in real time, in particular for motion capture problems.

• Contacts: Erwann Landais, Vincent Padois, Nasser Rezzoug

9.1.1 Inria international partners

• A collaboration has been carried on with Ephraim Suhir (Portland University) in the domain of robotics risks, and especially on the issue of availability of the robot. Related publication: J.-M Salotti, J Nicolics, E. Suhir. Required Repair Time to Assure the Given/Specified Availability. Universal Journal of Lasers, Optics, Photonics & Sensors, 1, 01-07, 2020.

• Joshua Pickard, University of New Brunswick and Eigen Innovations inc and Milan Hladik, Charles University

  Research topic of the collaboration: Set-Based Approaches for the Reliable Computation of Robot and Human Capabilities. Publications related to this collaboration: 2 in preparations.

• Alessandro Saccon, Assistant Professor in nonlinear control and robotics at the Mechanical Engineering Department, Eindhoven University of Technology (TU/e)

  Research topic of the collaboration: Modelling and prediction of robots impacting their environment Publications related to this collaboration: 1 in preparation Student projects: co-advising of 2 M.Sc. students projects.

• Clint Hansen, Christian-Albrechts-Universität zu Kiel Department Universitätsklinikum Schleswig - Holstein

  Research topic of the collaboration: We are working together on algorithmic assessment of locomotion by means of inertial sensors.

• Houcine Boubaker, Thameur Dhieb, Research Groups in Intelligent Machines, National School of Engineers of Sfax ENIS, University Sfax, Tunisia: We are working on modeling of hand-written tracing.

  Research topic of the collaboration: The objective is to propose signal processing tools to assess the state of a subject from manuscript production and hands moves (age, pathologies, tiredness, ...).

• Olfa Jemaa, Sami Bennour, University of Sousse and Lotfi Romdhane, American University of Sharjah

  Research topic of the collaboration: the individual musculo-tendon forces for ergonomic assessment

9.2.1 Collaborations in European programs, except FP7 and H2020

HARRY2

The objective of the HARRY2 project is to attain more advanced workspace sharing capabilities through fully exploiting the collaborative possibilities defined by ISO TS 15066. This is achieved by:

- Developing PLC software and motion controllers using robot-agnostic industrially-rated components to ease and standardize the development of safe robotic applications with workspace sharing.

- Integrating state-of-the-art energy-based control algorithms using these industrial hardware components, so that safety is no longer treated as an exception but considered as a constraint when computing the control solution in real-time.

- Enabling the use of high-level and intuitive teaching interfaces reducing robot programming time and difficulty.

- Developing a systematic and practical methodology for quantitative safety evaluation.

Project in a nutshell:

• Consortium: AUCTUS@Inria, RoBioSS@PPRIME, FuzzyLogicRobotics
• Funding: H2020 COVR, Région Nouvelle-Aquitaine
• Duration: 2019–2021
• People involved: Lucas Joseph, Vincent Padois
• Dissemination: Video, Harry2@COVR overview (pdf), Twitter

10.1.1 Scientific events: organisation

10.1.2 Scientific events: selection

• David Daney: Reviewer for ICRA, IROS.
• Jessica Colombel: Reviewer for ICRA.
• Vincent Padois:
  • Associate Editor for ICRA and IROS;
  • Reviewer for ICRA, IROS and RSS.
• Nasser Rezzoug:
  • Scientific commitee of the 45th Congress of the" Société de Biomécanique";
  • Reviewer for IEEE EMBS and the 45th Congress of the "Société de Biomécanique".

10.1.3 Journal

10.1.4 Leadership within the scientific community

• Vincent Padois: Co-Head of the Working Group (GT7) in Humanoid Robotics of the GDR Robotique with Olivier Stasse.

10.1.5 Scientific expertise

• David Daney
  • reviewer for Natural Sciences and Engineering Research Council of Canada
• Vincent Padois
  • Reviewer for the 3rd COVR H2020 project call;
  • Reviewer for the NWO Talent Programme – Veni;
  • Scientific expertise for IRT Jules Verne.
• Nasser Rezzoug
  • Reviewer for the ANR generic project call, Technology for health;
  • Reviewer for the 2020 Dutch Research Council, Domain Applied and Engineering Sciences project call

Teaching

• Master: Jean-Marc Salotti, Intelligence Artificielle, 103,5h éqTD, M1, Ecole Nationale Supérieure de Cognitique / Bordeaux INP, France.
• Master: Jean-Marc Salotti, Facteurs Humains et Ingénierie Cognitique, 15h éqTD, M1, Ecole Nationale Supérieure de Cognitique / Bordeaux INP, France.
• Master: Jean-Marc Salotti, Interactions Hommes Robots, 15h éqTD, M2, Ecole Nationale Supérieure de Cognitique / Bordeaux INP, France. In this course, all students have practical works involving cobotic systems: programming NAOs and UR3 (Universal Robots) and testing an exoskeleton.
• Master: David Daney, Interactions Hommes Robots, 2h éqTD, M2, Ecole Nationale Supérieure de Cognitique / Bordeaux INP, France.
• Master: David Daney, Mathématiques pour la robotique, 30h éqTD, M2, Enseirb/Ensc, Bordeaux INP, France.
• Master: David Daney, Décision, 7h éqTD, M2, Ecole Nationale Supérieure de Cognitique / Bordeaux INP, France.
• Master: Vincent Padois, Literature review - What, Why and How?, 20h éqTD, M2, Enseirb/Ensc, Bordeaux INP, France.
• Master: Vincent Padois, Student projects, 40h éqTD, M2, Enseirb/Ensc, Bordeaux INP, France.
• Master: Vincent Padois, Maintenance du futur - Cours introductif, 2h éqTD, M1, ENSPIMA, Bordeaux INP, France.
• Master: Vincent Padois, Introduction à la Robotique, 2h éqTD, M1, Universié de Bordeaux, France.
• Master: Nassim Benhabib, Interactions Hommes Robots, 15h éqTD, M2, ENSC, Bordeaux INP, France.
• Master: Jessica Colombel, Robot Operating System, 10h éqTD, M2, Enseirb/Ensc, Bordeaux INP, France.
• Master: Jessica Colombel, Traduction des langages (compilation), 18h éqTD, M1, TELECOM Nancy, France.
• Master: Jessica Colombel, Conception et développement Java, 10h éqTD, M1, TELECOM Nancy, France.
• Licence: Jessica Colombel, Mathématiques pour l'informatique, 30h éqTD, L3, TELECOM Nancy, France.
• Licence: Jessica Colombel, Base de données, 17h éqTD, L3, TELECOM Nancy, France.
• Licence: Jessica Colombel, Culture et outils informatique (Latex et Git), 8h éqTD, L3, TELECOM Nancy, France.
• Master: Charles Fage, Cognitive Disabilities and Assistive Technologies, , M2, Master de Sciences cognitives et Ergonomie, Université de Bordeaux, France.
• Master: Charles Fage, Human-Computer Interactions, 15h éqTD, M1, Master de Sciences cognitives et Ergonomie, Université de Bordeaux, France.
• Licence: Charles Fage, Disabilities Management and Ethics, 15h éqTD, L2, Licence de MIASHS, Université de Bordeaux, France.
• Licence: Charles Fage, Alternative and Augmentative Communication, 15h éqTD, 2ème année, Institut de formation en ergothérapie de Bordeaux, France.
• Licence: Charles Fage, Autism and Developmental Disorders, 15h éqTD, 2ème année, Institut de formation en ergothérapie de Bordeaux, France.
• Licence: Charles Fage, Aging and Assistive Technologies, 15h éqTD, 2ème année, Institut de formation en ergothérapie de Bordeaux, France.
• Master: Antun Skuric, Interactions Hommes Robots, 12h éq TD, M2, ENSC, Bordeaux INP, France.
• Master: Antun Skuric, Mathématiques et Informatique (Intermédiaire), 9h éq TD, M1, ENSAM, Bordeaux INP, France.
• Master: Antun Skuric, Mathématiques et Informatique (Avancé), 18h éq TD, M2, ENSAM, Bordeaux INP, France.
• Licence: Nasser Rezzoug, Biomécanique, 124.5héq TD, L1, UFR STAPS, Université de Toulon, France.
• Master: Nasser Rezzoug, Statistiques, 96h éq TD, L2, UFR STAPS, Université de Toulon, France.
• Master: Nasser Rezzoug, Biomécanique, 25h éq TD, M1, UFR Sciences & Tech, Master ISC parcours Robotique et Objets Connectés, université de Toulon, France.
• Master: Nasser Rezzoug, Applications biomédicales des objets connectés, 6h éq TD, M2, UFR Sciences & Tech, Master ISC parcours Robotique et Objets Connectés, Université de Toulon, France.

Supervision

• PhD in progress: Quoc Bach Hoa (Thèse ED SMAER, Paris), “Biomechanically plausible simulations of healthy and altered human locomotion”, September 2017–, Vincent Padois and Faiz Ben Amar (Sorbonne Université).
• PhD in progress: Nassim Benhabib (Inria / Région NA – Woobot project), “Méthodologie de conception et de commande d'un système robotique collaboratif pour assister et sécuriser les gestes d'un opérateur”, November 2018 – , David Daney and Vincent Padois.
• PhD in progress: Pierre Laguillaumie (Thèse laboratoire PPRIME), “Méthodologie pour la mise en œuvre d'un robot collaboratif de nouvelle génération prenant en compte la sécurité et le confort biomécanique de l'opérateur en situation de travail”, March 2018 – Jean-Pierre Gazeau and Vincent Padois.
• PhD in progress: Nicolas Torres (Thèse ED SPI, Bordeaux / CIFRE PSA), “Synthesis and dynamic analysis of the shared workspace for safety in collaborative robotics”, April 2020 – Vincent Padois and David Daney.
• PhD in progress: Antun Skuric (Thèse ED SPI, Bordeaux / Financement projet Lichie Airbus), “A coupled view of the physical abilities of human-robot dyad for the online quantitative evaluation of assistance needs”, July 2020 – Vincent Padois and David Daney.
• PhD in progress: Raphaël Bousigues (Thèse ED SPI, Bordeaux / INRS-Inria), “Motor variability in human-robot collaboration”, December 2020 – Pauline Maurice, Vincent Padois, David Daney and Jonathan Savin.
• PhD in progress: Jessica Colombel (Inria), “Analyse du mouvement humain pour l'assistance à la personne”, February 2019 – , François Charpillet and David Daney (Inria Nancy Grand-Est).
• PhD in progress: Nicolas Simonazzi (CIFRE Orange), “Analyse comportementale et détection des émotions dans le cadre de l'utilisation de chat-bots en ligne”, May 2018 –, Jean-Marc Salotti.
• PhD passed: Baptiste Prébot (DGA), “Partage des représentations et de la conscience de situation”, December 4th, 2020. Supervisors: Jean-Marc Salotti and Bernard Claverie, ENSC, IMS laboratory.
• PhD in progress: Olfa Jema (Université de Sousse, Tunisie), “Analyse du mouvement humain”, December 2017 –, Lotfi Romdhane, Sami Bennour, David Daney.

Juries

• Vincent Padois:
  • PhD: Matteo Ciocca, Reviewer, “Balance Preservation and Collision Mitigation for Biped Robots”, Université Grenoble Alpes, 2020/5/27.
  • PhD: Maciej Bednarczyk, Reviewer, “Advanced control of interactions in robotics. Application to robot-assisted medical procedures”, Université de Strasbourg, 2020/12/8.
  • PhD: Jury member for the Prix de thèse 2020 du GDR Robotique.
• David Daney:
  • PhD: Matthieu Furet,, Examinor, “Analyse cinéto-statique de mécanismes de tenségrité : Application à la modélisation de cous d’oiseaux et de manipulateurs bio-inspirés”, 2020/11/13, École Centrale de Nantes.
  • PhD: Adrien Malaisé, Reviewer, “Apprentissage du mouvement humain à l’aide de capteurs portés : vers l’automatisation de l’évaluation ergonomique.”, 2020/07/07, ENSTA Bretagne.
• Nasser Rezzoug:
  • PhD: Damien Dodelin, Reviewer, “Identifier la pronation podale et son impact lors de la locomotion afin de prévenir les lombalgies en situation professionnelle“, 2020/10/13, Université de Rouen-Normandie.
  • PhD:Stan Durand, Reviewer,“Quantification et modélisation biomécanique du poignet : géométrique, cinématique et dynamique”, 2020/01/22, ENSAM ParisTech, The 77 Lab, MIT.
  • PhD: President of the jury of the "prix de thèse 2020 de la Société de Biomécanique".

10.4.1 Internal or external Inria responsibilities

• Nasser Rezzoug :
  • Creation and development of the first cartrographies of biomechanics french speaking research (https://www.biomecanique.org/index.php/fr/carte/laboratoires) and teaching (https://www.biomecanique.org/index.php/fr/carte/formations) structures within the Société de Biomécanique (SB).
  • Coresponsibility for relations with SB's partners.

10.4.2 Articles and contents

• Vincent Padois: participation to the article “[Dossier Cobots] Collaborer sans réduire la cadence” of the Industries and Technologies Magazine6.
• Jean-Marc Salotti's paper published in Scientific Reports "Minimum Number of Settlers for Survival on an Other Planet" received a lot of attention and has been cited in many articles in international newspapers (The National Post, Fox News, new York Post, The Independent, Spoutnik News, Futura-Sciences, Les Echos, Ouest France, etc.). Altmetric score: 459.

10.4.3 Education

• Jean-Marc Salotti supervised a group of students working on an industrial case study during the week of the AI4Industry event (20-24 January 2020), which involved several Masters from different universities in Nouvelle Aquitaine.

International journals

• 4 article BenjaminB. Camblor, Jean-MarcJ.-M. Salotti, CharlesC. Fage and DavidD. Daney. Degraded situation awareness in a robotic workspace: accident report analysis Theoretical Issues in Ergonomics Science 2021
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• 5 article RyanR. Lober, OlivierO. Sigaud and VincentV. Padois. Task Feasibility Maximization using Model-Free Policy Search and Model-Based Whole-Body Control Frontiers in Robotics and AI 7 June 2020
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• 6 articleStéphaneS. Mandigout, AnaickA. Perrochon, L. Fernandez, NasserN. Rezzoug, B. Encelle, I. Kanellos, D. Ricard, M. Bouet, M. Shneider and S. Buffat. A Multidimensional Data Acquisition as a Preliminary Step to the Secondary Prevention of the Loss of Autonomy for Patients with Traumatic Injury and Stroke: An AMISIA Pilot StudyInnovation and Research in BioMedical engineering416December 2020, 316-320
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• 7 articleJoshua K.J. Pickard, Juan AJ. Carretero and Jean-PierreJ.-P. Merlet. Appropriate synthesis of the four-bar linkageMechanism and Machine Theory153November 2020, 103965
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• 8 article Jean-MarcJ.-M. Salotti. Minimum Number of Settlers for Survival on Another Planet Scientific Reports 10 1 June 2020
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• 9 article EphraimE. Suhir, Jean-MarcJ.-M. Salotti and JohannJ. Nicolics. Required Repair Time to Assure the Given/Specified Availability Universal Journal of Lasers, Optics, Photonics & Sensors 1 April 2020
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International peer-reviewed conferences

• 10 inproceedings NassimN. Benhabib, VincentV. Padois and DavidD. Daney. Securing Industrial Operators with Collaborative Robots: Simulation and Experimental Validation for a Carpentry task ICRA 2020 - IEEE International Conference on Robotics and Automation Paris, France May 2020
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• 11 inproceedings CharlesC. Fage and Jean-MarcJ.-M. Salotti. Analyse de Risques en Robotique : Apports de la Conscience de Situation SELF 2021 - 55ème congrès de la Société d'Ergonomie de Langue Française Paris / Virtuelle, France January 2021
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• 12 inproceedings LucasL. Joseph, Joshua K.J. Pickard, VincentV. Padois and DavidD. Daney. Online velocity constraint adaptation for safe and efficient human-robot workspace sharing International Conference on Intelligent Robots and Systems Las Vegas, United States October 2020
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• 13 inproceedingsJean-MarcJ.-M. Salotti and JulienJ. Doche. Backup strategies for Mars landingProceedings of the International Astronautical Federation, available at https://www.iafastro.org/publications/iac-publications/IAC 2020 - 71st International Astronautical CongressIAC-20,D3,1,4,x58335Virtual, FranceOctober 2020, 1-6
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Scientific book chapters

• 14 inbook JessicaJ. Colombel, DavidD. Daney, VincentV. Bonnet and FrançoisF. Charpillet. Markerless 3D Human Pose Tracking in the Wild with fusion of Multiple Depth Cameras: Comparative Experimental Study with Kinect 2 and 3 Activity and Behavior Computing, Smart Innovation, Systems and Technologies 2020
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• 15 inbookNicolasN. Simonazzi, Jean-MarcJ.-M. Salotti, CarolineC. Dubois and DominiqueD. Seminel. Emotion Detection Based on Smartphone Using User Memory Tasks and Videos1253Advances in Intelligent Systems and Computing 1253, Human Interaction, Emerging Technologies and Future Applications III, proceedings of the 3rd International Conference on Human Interaction and Emerging Technologies: Future Applications (IHIET 2020), August27–29, 2020, Paris, FranceAISCAugust 2021, 244-249
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Reports & preprints

• 16 misc IliasI. Aouaj, VincentV. Padois and AlessandroA. Saccon. Predicting the Post-Impact Velocity of a Robotic Arm via Rigid Multibody Models: an Experimental Study October 2020
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• 17 misc AntunA. Skuric, VincentV. Padois and DavidD. Daney. On-line force capability evaluation based on efficient polytope vertex search November 2020
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