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In this study, we investigate physical collaboration between two individuals during sit-to-stand assistance, facilitated by two coupled robots, the anthropomorphic KUKA LWR robot and the humanoid robot Talos. First, a haptic controller based on the forces applied to both robots to establish the connection between the two individuals is described. Subsequently, physical human-human collaboration during a sit-to-stand task is presented and analysed. Lastly, a generalisation of the sit-to-stand assisted movement task obtained through teleoperation is provided for potential enhancements of the sit-to-stand assistance task.

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Human-Human Teleoperated Interaction for Sit-to-Stand Assistance with Humanoid Robots

  • 会议论文

  • 发表日期：

    2025年

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  • Tilen Brecelj,
  • Ana Gabriela Kostanjevec,
  • Tadej Petrič

摘要

In this study, we investigate physical collaboration between two individuals during sit-to-stand assistance, facilitated by two coupled robots, the anthropomorphic KUKA LWR robot and the humanoid robot Talos. First, a haptic controller based on the forces applied to both robots to establish the connection between the two individuals is described. Subsequently, physical human-human collaboration during a sit-to-stand task is presented and analysed. Lastly, a generalisation of the sit-to-stand assisted movement task obtained through teleoperation is provided for potential enhancements of the sit-to-stand assistance task.