Human-robot interaction: Physical and social factors

This lecture explores the integration of physical and social factors in human-robot interaction, focusing on work-related musculoskeletal disorders, dynamics of human interaction, real-time estimation of center of pressure, and adaptive control strategies. It delves into topics such as joint overloading torque estimation, contact point detection, and cognitive load assessment. The lecture also covers the development of ergonomic control systems for human-robot collaboration, including real-time CoP estimation, anticipatory robot assistance, and adaptive interfaces. Additionally, it discusses the computational efficiency of HRI/C control, whole-body controllers, and trajectory planning for collaborative tasks.