auto_rula

auto_rula implements the functionality for scoring a pose in 3D space using the RULA system.

Usage

The main steps for scoring a pose are:

1. Normalize the pose: This step normalizes the position, rotation and scale of the pose in order to the following processing easier.
2. Project pose onto anatomical planes: In order to to calculate joint angles we first project the pose onto the 3 anatomical planes (coronal, sagittal and transverse).
3. Calculate joint angles: Using the normalized pose + the 3 projections we can now calculate angles of all RULA relevant joints.
4. Fill out rula-sheet: We now have all the information to fill out a modelled RULA sheet, just like in real life.
5. Score rula-sheet: We can now run the calculations described in the RULA system to arrive at scores from the measured angles.

In terms of code, an example pipeline could look like this:

// Get a pose from somewhere, for example by extracting it from an image
// using computer vision
final Pose pose = getPose();

// Normalize the pose
final NormalizedPose normalized = NormalizedPose.normalize(pose);

// Calculate the joint angles for the pose.
// This requires projecting it onto the anatomical planes.
final PoseAngles angles = PoseAngles.calculate(
    world: normalized,
    coronal: ProjectedPose.coronal(normalized),
    sagittal: ProjectedPose.sagittal(normalized),
    transverse: ProjectedPose.transverse(normalized),
);

// We can now fill out a RULA sheet with the angles we calculated.
final RulaSheet sheet = RulaSheet.fromAngles(angles);

// Finally we can score the sheet.
final RulaScores scores = RulaScores.calculateFor(sheet);

For convenience, the package also includes a method which contains this pipeline if you are only interested in the final score result.

final pose = getPose();
final scores = pose.score();

License

All source code in this repository is licensed under the MIT License with Commons Clause. This means the software is free to use, modify, and distribute for non-commercial purposes. However, you may not sell the software or provide it as part of a commercial service or paid support offering.

See LICENSE for details.

Project Status

This library was developed as part of the Ergo4All research project. Originally the code you find in this repository was written in the main Ergo4All repository. It was chosen to extract it to it's own package to encourage reuse in other projects.

No further development as part of the Ergo4All project is planned at the moment.