# On-line feasible wrench polytope evaluation based on human musculoskeletal models: an iterative convex hull method

arXiv: https://arxiv.org/abs/2110.06790 · HTML: https://mlsanity.com/paper/2110.06790/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 Oct 2021.

## Built on by (most cited first, 1 of 1)

- [Homogeneous Dynamics Space for Heterogeneous Humans](https://mlsanity.com/paper/2412.06146/) (2024)

## Abstract (arXiv)

Many recent human-robot collaboration strategies, such as Assist-As-Needed (AAN), are promoting humancentered robot control, where the robot continuously adapts its assistance level based on the real-time need of its human counterpart. One of the fundamental assumptions of these approaches is the ability to measure or estimate the physical capacity of humans in real-time. In this work, we propose an algorithm for the feasibility set analysis of a generic class of linear algebra problems. This novel iterative convex-hull method is applied to the determination of the feasible Cartesian wrench polytope associated to a musculoskeletal model of the human upper limb. The method is capable of running in real-time and allows the user to define the desired estimation accuracy. The algorithm performance analysis shows that the execution time has near-linear relationship to the considered number of muscles, as opposed to the exponential relationship of the conventional methods. Finally, real-time robot control application of the algorithm is demonstrated in a Collaborative carrying experiment, where a human operator and a Franka Emika Panda robot jointly carry a 7kg object. The robot is controlled in accordance to the AAN paradigm maintaining the load carried by the human operator at 30% of its carrying capacity.