{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,19]],"date-time":"2026-01-19T10:57:05Z","timestamp":1768820225521,"version":"3.49.0"},"reference-count":25,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2023,6,22]],"date-time":"2023-06-22T00:00:00Z","timestamp":1687392000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Neurorobot."],"abstract":"<jats:sec><jats:title>Introduction<\/jats:title><jats:p>Human robot collaboration is quickly gaining importance in the robotics and ergonomics fields due to its ability to reduce biomechanical risk on the human operator while increasing task efficiency. The performance of the collaboration is typically managed by the introduction of complex algorithms in the robot control schemes to ensure optimality of its behavior; however, a set of tools for characterizing the response of the human operator to the movement of the robot has yet to be developed.<\/jats:p><\/jats:sec><jats:sec><jats:title>Methods<\/jats:title><jats:p>Trunk acceleration was measured and used to define descriptive metrics during various human robot collaboration strategies. Recurrence quantification analysis was used to build a compact description of trunk oscillations.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results and discussion<\/jats:title><jats:p>The results show that a thorough description can be easily developed using such methods; moreover, the obtained values highlight that, when designing strategies for human robot collaboration, ensuring that the subject maintains control of the rhythm of the task allows to maximize comfort in task execution, without affecting efficiency.<\/jats:p><\/jats:sec>","DOI":"10.3389\/fnbot.2023.1183164","type":"journal-article","created":{"date-parts":[[2023,6,23]],"date-time":"2023-06-23T09:31:12Z","timestamp":1687512672000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":4,"title":["Modalities of sequential human robot collaboration trigger different modifications of trunk oscillations"],"prefix":"10.3389","volume":"17","author":[{"given":"Simone","family":"Ranaldi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daniele","family":"Bibbo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Giovanni","family":"Corvini","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Maurizio","family":"Schmid","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Silvia","family":"Conforto","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1965","published-online":{"date-parts":[[2023,6,22]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"169","DOI":"10.1109\/MRA.2020.2985344","article-title":"Smart Collaborative Systems for Enabling Flexible and Ergonomic Work Practices [Industry Activities]","volume":"27","author":"Ajoudani","year":"2020","journal-title":"IEEE Robot. Autom. Mag"},{"key":"B2","doi-asserted-by":"publisher","first-page":"957","DOI":"10.1007\/s10514-017-9677-2","article-title":"Progress and prospects of the human robot collaboration","volume":"42","author":"Ajoudani","year":"2018","journal-title":"Auton. Robots"},{"key":"B3","doi-asserted-by":"publisher","first-page":"103842","DOI":"10.1016\/j.medengphy.2022.103842","article-title":"Joint entropy analysis of anterior-posterior and medial-lateral body sway","volume":"106","author":"Anagnostou","year":"2022","journal-title":"Med. Eng. Phys"},{"key":"B4","doi-asserted-by":"publisher","first-page":"762","DOI":"10.1080\/00140139.2021.1991002","article-title":"Trunk sway changes in professional bus drivers during actual shifts on long-distance routes","volume":"65","author":"Arippa","year":"2022","journal-title":"Ergonomics"},{"key":"B5","doi-asserted-by":"publisher","first-page":"320","DOI":"10.1061\/(ASCE)CP.1943-5487.0000222","article-title":"Data fusion of real-time location sensing and physiological status monitoring for ergonomics analysis of construction workers","volume":"27","author":"Cheng","year":"2013","journal-title":"J. Comput. Civil Eng"},{"key":"B6","doi-asserted-by":"publisher","first-page":"e0249403","DOI":"10.1371\/journal.pone.0249403","article-title":"Fatigue, induced via repetitive upper-limb motor tasks, influences trunk and shoulder kinematics during an upper limb reaching task in a virtual reality environment","volume":"16","author":"Dupuis","year":"2021","journal-title":"PLoS ONE"},{"key":"B7","doi-asserted-by":"publisher","first-page":"11101","DOI":"10.1109\/IROS45743.2020.9341560","article-title":"\u201cA framework for real-time and personalisable human ergonomics monitoring,\u201d","author":"Fortini","year":"2020","journal-title":"2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"B8","doi-asserted-by":"publisher","first-page":"E271","DOI":"10.1097\/01.brs.0000216445.28943.d1","article-title":"Stability of dynamic trunk movement","volume":"31","author":"Granata","year":"2006","journal-title":"Spine"},{"key":"B9","doi-asserted-by":"publisher","first-page":"7758","DOI":"10.3390\/app10217758","article-title":"Digital twin for monitoring ergonomics during manufacturing production","volume":"10","author":"Greco","year":"2020","journal-title":"Appl. Sci"},{"key":"B10","doi-asserted-by":"publisher","first-page":"416","DOI":"10.1016\/j.gaitpost.2007.05.010","article-title":"Influence of embedding parameters and noise in center of pressure recurrence quantification analysis","volume":"27","author":"Hasson","year":"2008","journal-title":"Gait Posture"},{"key":"B11","doi-asserted-by":"publisher","first-page":"635","DOI":"10.1002\/hbm.21460","article-title":"Behavioral data and neural correlates for postural prioritization and flexible resource allocation in concurrent postural and motor tasks","volume":"34","author":"Huang","year":"2013","journal-title":"Human Brain Mapp"},{"key":"B12","doi-asserted-by":"publisher","first-page":"743","DOI":"10.1109\/ETFA.2018.8502466","article-title":"\u201cRisk Assessment for Human-Robot Collaboration in an automated warehouse scenario,\u201d","author":"Inam","year":"2018","journal-title":"2018 IEEE 23rd International Conference on Emerging Technologies and Factory Automation (ETFA)"},{"key":"B13","doi-asserted-by":"publisher","first-page":"105","DOI":"10.1016\/j.apergo.2017.06.007","article-title":"Changes in trunk sway of quay crane operators during work shift: A possible marker for fatigue?","volume":"65","author":"Leban","year":"2017","journal-title":"Appl. Ergon"},{"key":"B14","doi-asserted-by":"publisher","first-page":"6010","DOI":"10.3390\/s20216010","article-title":"A wearable sensor system for physical ergonomics interventions using haptic feedback","volume":"20","author":"Lind","year":"2020","journal-title":"Sensors"},{"key":"B15","doi-asserted-by":"publisher","first-page":"1962","DOI":"10.1109\/ICRA.2019.8794044","article-title":"\u201cA new overloading fatigue model for ergonomic risk assessment with application to human-robot collaboration,\u201d","author":"Lorenzini","year":"2019","journal-title":"2019 International Conference on Robotics and Automation (ICRA)"},{"key":"B16","doi-asserted-by":"publisher","first-page":"471","DOI":"10.1016\/j.gaitpost.2012.04.010","article-title":"Postural sway as a marker of progression in Parkinson's disease: A pilot longitudinal study","volume":"36","author":"Mancini","year":"2012","journal-title":"Gait Posture"},{"key":"B17","doi-asserted-by":"publisher","first-page":"100","DOI":"10.3390\/robotics8040100","article-title":"Human-Robot collaboration in manufacturing applications: a review","volume":"8","author":"Matheson","year":"2019","journal-title":"Robotics"},{"key":"B18","doi-asserted-by":"publisher","first-page":"444","DOI":"10.1001\/jamasurg.2019.6384","article-title":"Measuring ergonomic risk in operating surgeons by using wearable technology","volume":"155","author":"Meltzer","year":"2020","journal-title":"JAMA Surg"},{"key":"B19","doi-asserted-by":"publisher","first-page":"181","DOI":"10.1016\/S0169-8141(03)00062-3","article-title":"Sagittal trunk movements during load carrying activities: A pilot study","volume":"32","author":"Padula","year":"2003","journal-title":"Int. J. Ind. Ergon"},{"key":"B20","doi-asserted-by":"publisher","first-page":"2001","DOI":"10.3390\/ijerph15092001","article-title":"Wearable monitoring devices for biomechanical risk assessment at work: current status and future challenges\u2013a systematic review","volume":"15","author":"Ranavolo","year":"2018","journal-title":"Int. J. Environ. Res. Public Health"},{"key":"B21","doi-asserted-by":"publisher","first-page":"315","DOI":"10.1016\/j.rcim.2018.12.015","article-title":"Introduction and configuration of a collaborative robot in an assembly task as a means to decrease occupational risks and increase efficiency in a manufacturing company","volume":"57","author":"Realyv\u00e1squez-Vargas","year":"2019","journal-title":"Robot. Comput. Integr. Manufac"},{"key":"B22","doi-asserted-by":"publisher","first-page":"e0211051","DOI":"10.1371\/journal.pone.0211051","article-title":"Postural control in healthy adults: Determinants of trunk sway assessed with a chest-worn accelerometer in 12 quiet standing tasks","volume":"14","author":"Reynard","year":"2019","journal-title":"PLoS ONE"},{"key":"B23","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1016\/S0966-6362(98)00044-7","article-title":"Recurrence quantification analysis of postural fluctuations","volume":"9","author":"Riley","year":"1999","journal-title":"Gait Posture"},{"key":"B24","doi-asserted-by":"publisher","first-page":"72","DOI":"10.1109\/THMS.2018.2878824","article-title":"Human work and status evaluation based on wearable sensors in human factors and ergonomics: a review","volume":"49","author":"Tsao","year":"2019","journal-title":"IEEE Trans. Human-Mach. Syst"},{"key":"B25","doi-asserted-by":"publisher","first-page":"965","DOI":"10.1152\/jappl.1994.76.2.965","article-title":"Dynamical assessment of physiological systems and states using recurrence plot strategies","volume":"76","author":"Webber","year":"1994","journal-title":"J. Appl. Physiol"}],"container-title":["Frontiers in Neurorobotics"],"original-title":[],"link":[{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/fnbot.2023.1183164\/full","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,6,23]],"date-time":"2023-06-23T09:31:13Z","timestamp":1687512673000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.frontiersin.org\/articles\/10.3389\/fnbot.2023.1183164\/full"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,6,22]]},"references-count":25,"alternative-id":["10.3389\/fnbot.2023.1183164"],"URL":"https:\/\/doi.org\/10.3389\/fnbot.2023.1183164","relation":{},"ISSN":["1662-5218"],"issn-type":[{"value":"1662-5218","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,6,22]]},"article-number":"1183164"}}