Nutzerzentrierte Entwicklung einer freihändigen Steuerung für Mensch-Roboter-Systeme zur ergonomischen Unterstützung von Arbeitstätigkeiten in der Produktion

  • User-centred development of a hands-free control system for humon-robot systems for ergonomic support of work activities in production

Nelles, Jochen; Nitsch, Verena (Thesis advisor); Weidner, Robert (Thesis advisor)

Aachen : Shaker (2020)
Book, Dissertation / PhD Thesis

In: Schriftenreihe Industrial engineering and ergonomics 36
Page(s)/Article-Nr.: xix, 501 Seiten : Illustrationen, Diagramme

Dissertation, RWTH Aachen University, 2020


Demographic change and hence the shrinking and ageing of the population are influencing the labour force potential in Germany. It is therefore necessary to make better use of the labour force potential and to develop measures that enhance the inclusion of people with disabilities and support working persons in assembly in a humane manner. The aim of the research activity described in this dissertation thesis is the user-centred development of a hands-free control sys-tem for human-robot systems for ergonomic support of work activities in production. For this purpose, a hands-free head-based robot and gripper control based on head movements and gestures were designed and evaluated as part of a user-centred, iterative process in accordance with DIN EN ISO 9241-210. In order to increase the inclusion of people with physical disabilities, a human-robot collaboration office workplace was designed as an example and empirically investigated with tetraplegics and working persons of two age groups. The in-sights gained from the empirical studies show that the office workplace is sui-table for tetraplegics to increase their participation in working life, both from a technical-functional point of view and from an industrial engineering and ergonomics perspective. A suitability for working persons was also found. In addition, a human-robot collaboration assembly workplace was developed and a functional test carried out for the application scenario of supporting working persons in assembly. In addition, the head movements and gestures used for human-robot interaction were examined by means of motion capture with regard to stress and surface electromyography with regard to the resulting muscular strain. Here it could be shown that the head movements and gestures used do not exceed the maximum feasible body forces. It follows that the head movements and gestures investigated are suitable for human-robot interaction.