Determination of Posture Comfort Zones for Robot-Human Handover Tasks

Human robot collaboration is becomming more common, both in industrial and service robotics. This implies robot-human handover tasks, which should respect ergonomic aspects. The robot should adapt to the human and his individual properties. Before handling an object to human, the robot should know, where the exchange should take place best. The determination of such handling positions is crucial. In this study a method is developed and implemented to define and to determine comfort zones for robot-human handover tasks based on optical 3D motion analysis. For demonstration purpose an application is implemented, which determines individualized comfortable takeover positions based on data from RGB-depth cameras.