Simulator for p-HRI and Teleoperation

We developed an open-source simulator for postural correction using ROS. It includes a human seated on a stool and a KUKA LWR-4 robot (two robots for teleoperation). The simulated human behaves like a human in two ways:

1. physically controlling the interactive task

2. accepting or rejecting the recommended optimal postural corrections.

We model this as an optimal motion planning framework with re-planning that finds a human joint trajectory that interacts with the robot to do the task while moving toward the optimal ergonomic posture.

We note that this model is likely a simplification of true human interactive behavior. We do not advocate for its use over human subject studies. Instead, we propose it as a useful tool for systematically exploring new human safety assessment and improvement algorithms.ith the robot to do the task while moving toward the optimal ergonomic posture.