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Designing Optimally Safe Robot Surface Properties for Minimizing the Stress Characteristics of Human-Robot Collisions

Park, Jung-Jun and Haddadin, Sami and Song, Jae-Bok and Albu-Schaeffer, Alin (2011) Designing Optimally Safe Robot Surface Properties for Minimizing the Stress Characteristics of Human-Robot Collisions. In: Proceedings. ICRA2011, Int. Conf. on Robotics and Automation, 09.-13. May 2011, Shanghai, China.

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Abstract

Modeling of low severity soft-tissue injury due to unwanted collisions of a robot in collaborative settings is an important aspect to be treated in safe physical Human-Robot Interaction (pHRI). Up to now, safety evaluations for pHRI were mainly conducted by using safety criteria related with impact forces and head accelerations. These indicate severe injury in the robotics context and leave out low severity injury such as contusions and lacerations. However, for the design of an intrinsically safer robot arm, a reliable evaluation of the collision between a human and a robot that is based on skin injury criteria is essential. In this paper, we propose a novel human-robot collision model with and without covering, which is based on the impact stress distribution. The reliability of the proposed collision model is verified by a comparison with various cadaver experiments taken from existing biomechanical literature. Since the stress characteristics acting on the human head can be analyzed with this new collision model, the occurrence of certain soft-tissue injury can be estimated. Furthermore, the method serves for selecting the appropriate covering parameters, as e.g. elastic modulus and thickness, by evaluating the chosen skin injury indices.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Designing Optimally Safe Robot Surface Properties for Minimizing the Stress Characteristics of Human-Robot Collisions
Authors:
AuthorsInstitution or Email of Authors
Park, Jung-JunUNSPECIFIED
Haddadin, SamiSami.Haddadin@dlr.de
Song, Jae-BokUNSPECIFIED
Albu-Schaeffer, AlinAlin.Albu-Schaeffer@dlr.de
Date:May 2011
Journal or Publication Title:Proceedings
Status:Published
Keywords:Hämatome, Platzwunden, sichere Mensch-Roboter Interaktion, Kollisionsmodelle
Event Title:ICRA2011, Int. Conf. on Robotics and Automation
Event Location:Shanghai, China
Event Type:international Conference
Event Dates:09.-13. May 2011
Organizer:IEEE
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 - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:20 Jan 2012 12:54
Last Modified:12 Dec 2013 21:34

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