AUCTUS is an Inria team in collaboration with ENSC and IMS. The general objective of the team is to design robotic assistance systems or collaborative robots for Humans at work, in particular in the industrial sector.

The increase of the physical and cognitive capacities of the Homo Faber through the development of tools knows a new golden age by the advent of the collaborative robotics coupled with the artificial intelligence. Man is able to share with a machine his movement, his motor intelligence, but also his decisions. The challenge is then to design the machine part of the cybernetic couple for the successful realization of a task, while preserving the man in his physical and cognitive integrity and in his capacity of adaptation and decision.

The robotics community still tends to separate the cognitive (HRI) and physical (pHRI) aspects of human/robot interaction. One of the main challenges is to characterize the task as well as mechanical, physiological and cognitive capacities of humans in the form of physical constraints or objectives for the design of cobotized workstations. This design is understood in a large sense: the choice of the robot’s architecture (cobot, exoskeleton, etc.), the dimensional design (human/robot workspace, trajectory calculation, etc.), the coupling mode (comanipulation, teleoperation, etc.) and control. The approach then requires the contributions of the human and social sciences to be considered in the same way as those of exact sciences. The topics considered are broad, ranging from cognitive sciences, ergonomics, human factors, biomechanics and robotics.

## Scientific Axes

• Analysis and modeling of behavior
• Links between Human Sciences and Artificial Intelligence
• Set analysis of postures, gestures and human movements
• Operator / robot coupling
• Optimizing the performance of an operator / robot couple
• Mediation of perceptions of an operator / robot couple
• Design of collaborative robots and robotic assistance systems
• Architectural design
• Control design
• Methodological support: experiments and technological developments
• Innovative sensors
• Experiments

# Latest News

A propos du centre ou de la direction fonctionnelle Le centre Inria Bordeaux - Sud-Ouest est un des neuf centres d’Inria et compte une vingtaine d’équipes de recherche. Le centre Inria est un acteur majeur et reconnu dans le domaine des sciences numériques. Il est au cœur d’un riche écosystème de R&D et d’innovation : PME fortement innovantes, grands groupes industriels, pôles de compétitivité, acteurs de la recherche et de l’enseignement supérieur, laboratoires d’excellence, institut de recherche technologique… [Read More]
Iterative convex hull is a polytope evaluation algorithm developed for the generic class of the linear algebra problems: $$A\bm{x} = B\bm{y},\qquad \bm{y} \in [\bm{y} _{min}, \bm{y} _{max}]$$ This type of problems can be found in many different domains, one of them being the wrench capacity analysis of the human musculoskeletal models. In this paper the method overview is given as well as the verified on the assistive robotics scenario. [Read More]

## MOVER

The MOVER project is related to the study of morphological and motor variability of a human operator. Its goal is to develop tools for representing different operators with varying morphologies, mouvement amplitudes and motor variability for ergonomics purposes. Motor variability : an appropriate level of motor variability can contribute to lower the incidence of musculoskeletal disorder of a human operator. In this framework, the aim of the project is to get a better insight into the motor variability of a human operator through different experimental protocols. [Read More]

## PacBot

The PacBot project aims to design a semi-autonomous cobotic system for assistance, capable of selecting, synchronising and coordinating tasks distributed between the human and the robot by adapting to different types of variability in professional gestures, while anticipating dangerous situations. The orchestration of tasks between the human and the robot is difficult because it must answer the question of the distribution of roles within the couple according to the physical and decision-making abilities and constraints as well as the consequences of their interactions. [Read More]
Paper Abstract In this paper, the concept of signaling motions of a robot interacting with a human is presented. These motions consist in using the redundant degrees of freedom of a robot performing a task as new means of meaningful robot-human communication. They are generated through quasi-static torque control, in consistency with the main robot task. A double within-subject (N=16) study is conducted to evaluate the effects of two signaling motions on the performance of a task by participants and on their behavior towards the robot. [Read More]