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Evaluation of Collision Detection and Reaction for a Human-Friendly Robot on Biological Tissues

Haddadin, Sami and Albu-Schäffer, Alin and De Luca, Alessandro and Hirzinger, Gerd (2008) Evaluation of Collision Detection and Reaction for a Human-Friendly Robot on Biological Tissues. In: Proceedings IARP 2008. IARP International Workshop on Technical challenges and for dependable robots in Human environments, 2008-05-18 - 2008-05-19, Pasadena (USA).

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Abstract

Up to now, mostly blunt human-robot impacts were investigated in the robotics literature. In this context, the influence of robot mass and velocity during rigid impacts with and without the possibility of the human being clamped was quantified. In this paper an analysis of soft-tissue injuries caused by sharp tools which are mounted on/grasped by a robot and an evaluation of possible countermeasures are carried out as the next step down the road to full safety for robots in physical Human-Robot Interaction. To our knowledge for the first time in robotics, we present various experimental results with biological tissues showing the high performance of our collision detection and reaction schemes even for contacts with sharp tools.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Evaluation of Collision Detection and Reaction for a Human-Friendly Robot on Biological Tissues
Authors:
AuthorsInstitution or Email of Authors
Haddadin, SamiUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIED
De Luca, AlessandroUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2008
Journal or Publication Title:Proceedings IARP 2008
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Collision detection
Event Title:IARP International Workshop on Technical challenges and for dependable robots in Human environments
Event Location:Pasadena (USA)
Event Type:international Conference
Event Dates:2008-05-18 - 2008-05-19
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:27 Oct 2008
Last Modified:12 Dec 2013 20:33

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