Virtual Worker Reachable Space Evaluation with Prioritized Inverse Kinematics

His paper addresses the virtual prototyping of complex systems that have to be used and maintained by workers thus leading to the requirement of evaluating functions such as visibility, accessibility and operability. The present work exploits a prioritized IK architecture allowing an arbitrary number of priority levels among constraints. The enforcement of the strict priority levels relies on our efficient computation of associated projection operators. In addition we evaluate the fatigue due to (slowly evolving) external forces at the muscle group level. This allow us to characterize the reachable space in terms of comfort thus leading to more healthy reach strategy in complex industrial environment settings.