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A truly safely moving robot has to know what injury it may cause

Haddadin, Sami and Haddadin, Simon and Khoury, Augusto and Rokahr, Tim and Parusel, Sven and Burgkart, Rainer and Bicchi, Antonio and Albu-Schäffer, Alin (2012) A truly safely moving robot has to know what injury it may cause. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 7-12 Oct 2012, Vilamoura, Algarve, Portugal.

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Enabling robots to safely interact with humans is an essential goal of robotics research. The developments achieved over the last years in mechanical design and control made it possible to have active cooperation between humans and robots in rather complex situations. In these terms, safe behavior of the robot even under worst-case situations is crucial and forms also a basis for higher level decisional aspects. In order to quantify what safe behavior really means, the definition of injury, as well as understanding its general dynamics are essential. This insight can then be applied to design and control robots such that injury due to robot-human impacts is explicitly taken into account. In this paper we approach the problem from a medical injury analysis point of view in order to formulate the relation between robot mass, velocity, impact geometry, and resulting injury qualified in medical terms. We transform these insights into processable representations and propose a motion supervisor that utilizes injury knowledge for generating safe robot motions. The algorithm takes into account the reflected inertia, velocity, and geometry at possible impact locations. The proposed framework forms a basis for generating truly safe velocity bounds that explicitely consider the dynamic properties of the manipulator and human injury.

Item URL in elib:https://elib.dlr.de/80635/
Document Type:Conference or Workshop Item (Paper)
Title:A truly safely moving robot has to know what injury it may cause
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Haddadin, SamiSami.Haddadin (at) DLR.deUNSPECIFIED
Haddadin, SimonRobotics and Mechatronics Center,DLRUNSPECIFIED
Khoury, AugustoRobotics and Mechatronics Center,DLRUNSPECIFIED
Rokahr, Timtim.rokahr (at) dlr.deUNSPECIFIED
Parusel, SvenSven.Parusel (at) dlr.deUNSPECIFIED
Burgkart, RainerOrthopedic Clinic and Polyclinic, University Hospital Klinikum Rechts der Isar, Technical University of Munich (TUM)UNSPECIFIED
Bicchi, AntonioInterdepartmental Research Center “E. Piaggio”, Faculty of Engineering, University of PisaUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:7 October 2012
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Collision avoidance , Humans , Injuries , Muscles , Robots , Safety , Skin
Event Title:2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Vilamoura, Algarve, Portugal
Event Type:international Conference
Event Dates:7-12 Oct 2012
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Parusel, Sven
Deposited On:15 Jan 2013 16:09
Last Modified:18 Apr 2013 12:56

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