Experiments in ergonomic robot-guided manipulation

Allan Sørensen, Caizhen Liu, Songho M. Kim, Kevin M. Lynch, Michael A. Peshkin

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


Repetitive manual materials handling of heavy loads is common in assembly and is a common cause of low back disorders. The manual manipulation of a heavy load may be made more comfortable by constraining the load to move along a guide. The frictionless guide directs the motion of the load to the goal configuration as the human operator provides forces in directions that are comfortable. In this paper we present our first experimental results in guided manipulation with the purpose of understanding motions and forces that are comfortable for human operators.

Original languageEnglish (US)
Pages (from-to)306-311
Number of pages6
JournalIEEE International Conference on Intelligent Robots and Systems
StatePublished - 2000

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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