Traditional ergonomic considerations in human–machine and human–swarm systems have primarily relied on static diagnostic snapshots, which often fail to capture the temporal accumulation and non-linear dissipation of musculoskeletal fatigue. As Industry 5.0 transitions toward immersive, human-centric cyber-physical systems, redefining ergonomic load as an endogenous state variable allows for real-time control of musculoskeletal integrity. This work proposes the Dynamic Integrity Governor (DIG) framework, which treats ergonomic load as a normalized, dimensionless state variable ξt that evolves according to a stochastic proxy of recursive Newton–Euler dynamics. Leveraging a machine-perception-aware Adaptive Event-Triggered Mechanism (AETM) and the Multi-modal Flamingo Search Algorithm (MMFSA), we develop a decentralized architecture that redistributes ergonomic demands in real-time. The framework utilizes a 7-DOF kinematic model and Control Barrier Functions (CBF) to maintain human–swarm interaction within safe biomechanical boundaries, effectively filtering stochastic sensor noise through Girard-based stability buffers. Computational validation via N = 1000 Monte Carlo runs demonstrates that the proposed strategy achieves a 79.97% reduction in control updates (SD = 0.19%; p < 0.0001; Cohen’s d = 2.41), ensuring a positive minimum inter-event time (MIET) to prevent the Zeno phenomenon and supporting carbon-aware AI operations. The integration of variable prediction horizons yields an 80.69% improvement in solving time, while ensuring a minimal computational footprint suitable for real-time edge deployment. The identification of optimal postural niches maintains peak ergonomic load at 41.42%, representing a significant safety margin relative to the integrity barrier. While validated against a 50th percentile male profile, the DIG framework establishes a modular foundation for personalized ergonomic governors in inclusive Industry 5.0 applications.
Gerolimos et al. (Sat,) studied this question.