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

Park, Jung-Jun und Haddadin, Sami und Song, Jae-Bok und 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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Kurzfassung

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.

Dokumentart:Konferenzbeitrag (Vortrag, Paper)
Titel:Designing Optimally Safe Robot Surface Properties for Minimizing the Stress Characteristics of Human-Robot Collisions
Autoren:
AutorenInstitution oder E-Mail-Adresse der Autoren
Park, Jung-JunNICHT SPEZIFIZIERT
Haddadin, SamiSami.Haddadin@dlr.de
Song, Jae-BokNICHT SPEZIFIZIERT
Albu-Schaeffer, AlinAlin.Albu-Schaeffer@dlr.de
Datum:Mai 2011
Erschienen in:Proceedings
Status:veröffentlicht
Stichwörter:Hämatome, Platzwunden, sichere Mensch-Roboter Interaktion, Kollisionsmodelle
Veranstaltungstitel:ICRA2011, Int. Conf. on Robotics and Automation
Veranstaltungsort:Shanghai, China
Veranstaltungsart:internationale Konferenz
Veranstaltungsdatum:09.-13. May 2011
Veranstalter :IEEE
HGF - Forschungsbereich:Verkehr und Weltraum (alt)
HGF - Programm:Weltraum (alt)
HGF - Programmthema:W SY - Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Weltraum
DLR - Forschungsgebiet:W SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):W - RMC - Mechatronik und Telerobotik (alt)
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik > Robotersysteme
Hinterlegt von: Gabriele Beinhofer
Hinterlegt am:20 Jan 2012 12:54
Letzte Änderung:12 Dez 2013 21:34

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