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The Role of the Robot Mass and Velocity in Physical Human-Robot Interaction - Part I: Unconstrained Blunt Impacts

Haddadin, Sami and Albu-Schäffer, Alin and Hirzinger, Gerd (2008) The Role of the Robot Mass and Velocity in Physical Human-Robot Interaction - Part I: Unconstrained Blunt Impacts. In: Proceedings ICAR 2008, pp. 1331-1338. IEEE International Conference on Robotics and Automation, 2008-05-19 - 2008-05-23, Pasadena (USA).

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Abstract

The desired coexistence of robotic systems and humans in the same physical domain, by sharing their workspace and actually cooperating in a physical manner, poses the very fundamental problem of ensuring safety to the user. In this paper we will show the influence of robot mass and velocity during blunt unconstrained impacts with humans. Several robots with weights ranging from 15–2500 kg are impacted at different velocities with a mechanical human head mockup. This is used to measure the so-called Head Injury Criterion, mainly a measure for brain injury. Apart from injuries indicated by this criterion and a detailed analysis of chest impacts we point out that e.g. fractures of facial bones can occur during collisions at typical robot velocities. Therefore, this injury mechanism which is more probable in robotics is evaluated in detail.

Item URL in elib:https://elib.dlr.de/55657/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:The Role of the Robot Mass and Velocity in Physical Human-Robot Interaction - Part I: Unconstrained Blunt Impacts
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Haddadin, SamiUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDUNSPECIFIED
Hirzinger, GerdUNSPECIFIEDUNSPECIFIED
Date:2008
Journal or Publication Title:Proceedings ICAR 2008
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 1331-1338
Status:Published
Keywords:-
Event Title:IEEE International Conference on Robotics and Automation
Event Location:Pasadena (USA)
Event Type:international Conference
Event Dates:2008-05-19 - 2008-05-23
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 - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Klauer, Monika
Deposited On:27 Oct 2008
Last Modified:31 Jul 2019 19:23

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