{"id":"https://openalex.org/W4409796644","doi":"https://doi.org/10.1109/icarsc65809.2025.10970165","title":"Towards a Human-Sensitive Controller: Learning Human Specificities in Ergonomics and Physical Constraints","display_name":"Towards a Human-Sensitive Controller: Learning Human Specificities in Ergonomics and Physical Constraints","publication_year":2025,"publication_date":"2025-04-02","ids":{"openalex":"https://openalex.org/W4409796644","doi":"https://doi.org/10.1109/icarsc65809.2025.10970165"},"language":"en","primary_location":{"id":"doi:10.1109/icarsc65809.2025.10970165","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc65809.2025.10970165","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009576238","display_name":"Vitor William Batista Martins","orcid":"https://orcid.org/0000-0003-4891-8630"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Vitor Martins","raw_affiliation_strings":["University of Minho,CMEMS,Guimar&#x00E3;es,Portugal"],"affiliations":[{"raw_affiliation_string":"University of Minho,CMEMS,Guimar&#x00E3;es,Portugal","institution_ids":["https://openalex.org/I99682543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063654487","display_name":"Sara M. Cerqueira","orcid":"https://orcid.org/0000-0002-8097-5507"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Sara M. Cerqueira","raw_affiliation_strings":["University of Minho,CMEMS,Guimar&#x00E3;es,Portugal"],"affiliations":[{"raw_affiliation_string":"University of Minho,CMEMS,Guimar&#x00E3;es,Portugal","institution_ids":["https://openalex.org/I99682543"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066978972","display_name":"Mercedes Balcells","orcid":"https://orcid.org/0000-0002-2532-0516"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mercedes Balcells","raw_affiliation_strings":["Massachusetts Institute of Technology,IMES,Cambridge,MA,USA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,IMES,Cambridge,MA,USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005931821","display_name":"Elazer R. Edelman","orcid":"https://orcid.org/0000-0002-7832-7156"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elazer R Edelman","raw_affiliation_strings":["Massachusetts Institute of Technology,IMES,Cambridge,MA,USA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,IMES,Cambridge,MA,USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067484406","display_name":"Cristina P. Santos","orcid":"https://orcid.org/0000-0003-0023-7203"},"institutions":[{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Cristina P. Santos","raw_affiliation_strings":["University of Minho,CMEMS, LABBELS- Associate Laboratory,Guimar&#x00E3;es,Portugal"],"affiliations":[{"raw_affiliation_string":"University of Minho,CMEMS, LABBELS- Associate Laboratory,Guimar&#x00E3;es,Portugal","institution_ids":["https://openalex.org/I99682543"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5009576238"],"corresponding_institution_ids":["https://openalex.org/I99682543"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09263416,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"158","last_page":"163"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9108999967575073,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9108999967575073,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6076915860176086},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5097913146018982},{"id":"https://openalex.org/keywords/human-factors-and-ergonomics","display_name":"Human factors and ergonomics","score":0.4838091731071472},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3751601576805115},{"id":"https://openalex.org/keywords/knowledge-management","display_name":"Knowledge management","score":0.3455067276954651},{"id":"https://openalex.org/keywords/poison-control","display_name":"Poison control","score":0.1003410816192627},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09059283137321472}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6076915860176086},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5097913146018982},{"id":"https://openalex.org/C166735990","wikidata":"https://www.wikidata.org/wiki/Q1750812","display_name":"Human factors and ergonomics","level":3,"score":0.4838091731071472},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3751601576805115},{"id":"https://openalex.org/C56739046","wikidata":"https://www.wikidata.org/wiki/Q192060","display_name":"Knowledge management","level":1,"score":0.3455067276954651},{"id":"https://openalex.org/C3017944768","wikidata":"https://www.wikidata.org/wiki/Q1450463","display_name":"Poison control","level":2,"score":0.1003410816192627},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09059283137321472},{"id":"https://openalex.org/C99454951","wikidata":"https://www.wikidata.org/wiki/Q932068","display_name":"Environmental health","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icarsc65809.2025.10970165","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarsc65809.2025.10970165","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)","raw_type":"proceedings-article"},{"id":"pmh:oai:repositorium.sdum.uminho.pt:1822/95078","is_oa":false,"landing_page_url":"https://hdl.handle.net/1822/95078","pdf_url":null,"source":{"id":"https://openalex.org/S4306400354","display_name":"Reposit\u00f3riUM (Universidade do Minho)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99682543","host_organization_name":"University of Minho","host_organization_lineage":["https://openalex.org/I99682543"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3100264521","display_name":null,"funder_award_id":"SFRH/BD/151382/2021","funder_id":"https://openalex.org/F4320337197","funder_display_name":"Nuclear Fuel Cycle and Supply Chain"}],"funders":[{"id":"https://openalex.org/F4320330264","display_name":"MIT Portugal","ror":null},{"id":"https://openalex.org/F4320337197","display_name":"Nuclear Fuel Cycle and Supply Chain","ror":"https://ror.org/05tj7dm33"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1888192366","https://openalex.org/W2024097232","https://openalex.org/W2516470530","https://openalex.org/W2755864175","https://openalex.org/W2892024327","https://openalex.org/W3039022406","https://openalex.org/W3154206138","https://openalex.org/W4210878205","https://openalex.org/W4281386285","https://openalex.org/W4377225181","https://openalex.org/W4378697332","https://openalex.org/W4383652569","https://openalex.org/W4401417352"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Work-Related":[0],"Musculoskeletal":[1],"Disorders":[2],"remain":[3],"a":[4,55,60,66,93],"major":[5],"challenge":[6],"in":[7,17,123,127],"industrial":[8],"settings,":[9,129],"accounting":[10],"for":[11,38,53,59],"over":[12],"half":[13],"of":[14,134],"occupational":[15],"diseases":[16],"Europe":[18],"and":[19,22,31,100,114,125,147,160,164,176],"imposing":[20],"economic":[21],"social":[23],"burdens.":[24],"These":[25],"disorders":[26],"often":[27],"cause":[28],"chronic":[29],"pain":[30,101,145,161],"reduced":[32],"work":[33],"capacity,":[34],"highlighting":[35],"the":[36,81,90,132,139],"need":[37],"inclusive":[39],"workstations":[40],"that":[41],"adapt":[42],"to":[43,68,83,97,137,172],"workers'":[44],"physical":[45,75],"constraints.":[46,76],"This":[47,77],"paper":[48],"explores":[49],"Reinforcement":[50],"Learning":[51],"(RL)":[52],"developing":[54],"personalized":[56],"control":[57],"strategy":[58],"collaborative":[61],"robot":[62],"(cobot).":[63],"Q-Learning":[64],"enabled":[65],"cobot":[67,82],"optimize":[69],"human":[70],"ergonomic":[71,99,150,159],"posture":[72],"while":[73],"considering":[74],"model-free":[78],"approach":[79],"allows":[80],"learn":[84],"optimal":[85],"actions":[86],"through":[87],"interaction":[88],"with":[89],"environment,":[91],"maximizing":[92],"reward":[94,156],"function":[95],"designed":[96],"minimize":[98],"risk":[102,146,162],"levels.":[103],"To":[104],"evaluate":[105],"discretization":[106],"effects,":[107],"two":[108],"state":[109],"space":[110],"levels":[111],"(10":[112],"cm":[113],"6.25":[115],"cm)":[116],"were":[117,120],"tested.":[118],"Models":[119],"initially":[121],"trained":[122],"simulation":[124],"fine-tuned":[126],"real-world":[128],"Results":[130],"underscore":[131],"importance":[133],"fine-tuning":[135],"policies":[136,143],"bridge":[138],"sim-to-real":[140],"gap.":[141],"Fine-tuned":[142],"eliminated":[144],"ensured":[148],"safe":[149],"postures.":[151],"Performance":[152],"was":[153],"evaluated":[154],"using":[155],"per":[157,166],"episode,":[158,167],"levels,":[163],"steps":[165],"demonstrating":[168],"RL-driven":[169],"cobots'":[170],"potential":[171],"enhance":[173],"worker":[174],"health":[175],"inclusion.":[177]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
