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Dynamic control of DHM for ergonomic assessments

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Academic year: 2021

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Figure

Figure 1: Actual work task at the left and human subject experiment at the right
Table 1 is used to assess the risk. Level 1 (no risk) in- in-dicates that the condition examined is fully acceptable, the level 2 (low risk) indicates that the exposure may be significant and careful monitoring for induced health  ef-fects should be introd
Figure 4: Block diagram of the dynamic DHM control
Figure 5: DMU scenario with the desired wrenches: com (centre of mass) for balance, head following end effector (EE) movement, thorax avoiding large movement, c (contacts) for no sliding contacts, lhand (left hand) and rhand (right hand) are end effector t
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