Beyond Collision Avoidance: Balance and Gesture Related Biomechanical Effects of Working with the Presence of Mobile Robots

Autonomous mobile robots (AMRs) are increasingly deployed in shared occupational environments, where safety is primarily defined by collision avoidance. However, robot motion may also impose balance related demands without physical contact. This study examined how robot-initiated guidance influences human movement and neuromuscular responses during a retail-like shelf picking task. Sixteen healthy adults completed trials under three conditions: no robot, low-speed guidance, and high-speed guidance. Whole body kinematics and surface electromyography were analyzed across pre, transient, and post interaction phases to differentiate steady state behavior from short term adaptations. Results showed that robot guidance increased segment velocity and acceleration while posture related position measures remained unchanged. Speed dependent effects were most evident during transient interaction, where higher robot speeds produced greater distal segment accelerations and short-term increases in muscle activation. The findings highlight the importance of considering transient biomechanical demands when designing AMR guidance strategies in shared work environments.