{"ID":2828365,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.14111","arxiv_id":"2512.14111","title":"Interactive Motion Planning for Human-Robot Collaboration Based on Human-Centric Configuration Space Ergonomic Field","abstract":"Industrial human-robot collaboration requires motion planning that is collision-free, responsive, and ergonomically safe to reduce fatigue and musculoskeletal risk. We propose the Configuration Space Ergonomic Field (CSEF), a continuous and differentiable field over the human joint space that quantifies ergonomic quality and provides gradients for real-time ergonomics-aware planning. An efficient algorithm constructs CSEF from established metrics with joint-wise weighting and task conditioning, and we integrate it into a gradient-based planner compatible with impedance-controlled robots. In a 2-DoF benchmark, CSEF-based planning achieves higher success rates, lower ergonomic cost, and faster computation than a task-space ergonomic planner. Hardware experiments with a dual-arm robot in unimanual guidance, collaborative drilling, and bimanual cocarrying show faster ergonomic cost reduction, closer tracking to optimized joint targets, and lower muscle activation than a point-to-point baseline. CSEF-based planning method reduces average ergonomic scores by up to 10.31% for collaborative drilling tasks and 5.60% for bimanual co-carrying tasks while decreasing activation in key muscle groups, indicating practical benefits for real-world deployment.","short_abstract":"Industrial human-robot collaboration requires motion planning that is collision-free, responsive, and ergonomically safe to reduce fatigue and musculoskeletal risk. We propose the Configuration Space Ergonomic Field (CSEF), a continuous and differentiable field over the human joint space that quantifies ergonomic quali...","url_abs":"https://arxiv.org/abs/2512.14111","url_pdf":"https://arxiv.org/pdf/2512.14111v1","authors":"[\"Chenzui Li\",\"Yiming Chen\",\"Xi Wu\",\"Tao Teng\",\"Sylvain Calinon\",\"Darwin Caldwell\",\"Fei Chen\"]","published":"2025-12-16T05:46:38Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}