Embodied Human Simulation for Quantitative Design and Analysis of Interactive Robotics
Physical interactive robotics, ranging from wearable devices to collaborative humanoid robots, require close coordination between mechanical design and control. However, evaluating interactive dynamics is challenging due to complex human biomechanics and motor responses. Traditional experiments rely on indirect metrics without measuring human internal states, such as muscle forces or joint loads. To address this issue, we develop a scalable simulation-based framework for the quantitative analysis of physical human-robot interaction. At its core is a full-body musculoskeletal model serving as a predictive surrogate for the human dynamical system. Driven by a reinforcement learning controll...
| Authors | Chenhui Zuo, Jinhao Xu, Michael Qian Vergnolle et al. |
|---|---|
| Primary category | cs.RO |
| Published | 10 March 2026 |
| Last updated at source | 10 March 2026 |
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