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Verification of quantitative human–industrial robot collaborative simulation results


Fredrik Ore, Golshid Hadialhejazi , Lars Hanson

Publication Type:

Conference/Workshop Paper


Swedish Production Symposium 2016


Human–industrial robot collaboration (HIRC) is introduced to make future industrial workstations more ergonomically viable and productive. A HIRC simulation software demonstrator based on the simulation software Intelligently Moving Manikin (IMMA) has been recently developed. The simulation and visualisation tool uses mathematical algorithms to predict human and robot motions. Data from the human motion are used to assess the biomechanical load exposure. The validity of the simulated motions considering biomechanical load have not yet been verified. Thus, the aim of this study is to verify the biomechanical load predicted by the HIRC demonstrator simulation software through laboratory experiments. A HIRC workstation for engine block inspection was used for the evaluation, where a family of physical and virtual humans performed the inspection. The physical tests were performed in a lab environment, and the virtual tests were simulated in the HIRC simulation software. In both tests, data of human motion were captured. The joint angles of the body parts were extracted and analysed to assess biomechanical load using rapid upper limb assessment (RULA). A comparison between the results of the laboratory experiment and the simulation test shows that the simulated human movements of the HIRC workstation correspond well with humans performing the same task in the lab environment.


author = {Fredrik Ore and Golshid Hadialhejazi and Lars Hanson},
title = {Verification of quantitative human–industrial robot collaborative simulation results},
month = {October},
year = {2016},
booktitle = {Swedish Production Symposium 2016},
url = {}