Details
| Original language | English |
|---|---|
| Pages (from-to) | 1880-1887 |
| Number of pages | 8 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 3 |
| Issue number | 3 |
| Early online date | 2 Feb 2018 |
| Publication status | Published - Jul 2018 |
Abstract
Close physical human-robot interaction makes it essential to ensure human safety. In particular, the intrinsic safety characteristics of a robot in terms of potential human injury have to be understood well. Then, minimal potential harm can be made a key requirement already at an early stage of the robot design. In this letter, we propose the safety map concept, a map that captures human injury occurrence and robot inherent global or task-dependent safety properties in a unified manner, making it a novel, powerful, and convenient tool to quantitatively analyze the safety performance of a certain robot design. In this letter, we derive the concept and elaborate the map representations of the PUMA 560, KUKA Lightweight Robot IV+, and injury data of the human head and chest. For the latter, we classify and summarize the most relevant impact studies and extend existing literature overviews. Finally, we validate our approach by deriving the safety map for a pick and place task, which allows us to assess human safety and guide the task/robot designer how to take measures in order to account for both safety and task performance requirements, respectively.
Keywords
- human-centered robotics, physical human-robot interaction, Robot safety
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Biomedical Engineering
- Computer Science(all)
- Human-Computer Interaction
- Engineering(all)
- Mechanical Engineering
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Computer Science Applications
- Mathematics(all)
- Control and Optimization
- Computer Science(all)
- Artificial Intelligence
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In: IEEE Robotics and Automation Letters, Vol. 3, No. 3, 07.2018, p. 1880-1887.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Safety Map: A Unified Representation for Biomechanics Impact Data and Robot Instantaneous Dynamic Properties
AU - Mansfeld, Nico
AU - Hamad, Mazin
AU - Becker, Marvin
AU - Marin, Antonio Gonzales
AU - Haddadin, Sami
PY - 2018/7
Y1 - 2018/7
N2 - Close physical human-robot interaction makes it essential to ensure human safety. In particular, the intrinsic safety characteristics of a robot in terms of potential human injury have to be understood well. Then, minimal potential harm can be made a key requirement already at an early stage of the robot design. In this letter, we propose the safety map concept, a map that captures human injury occurrence and robot inherent global or task-dependent safety properties in a unified manner, making it a novel, powerful, and convenient tool to quantitatively analyze the safety performance of a certain robot design. In this letter, we derive the concept and elaborate the map representations of the PUMA 560, KUKA Lightweight Robot IV+, and injury data of the human head and chest. For the latter, we classify and summarize the most relevant impact studies and extend existing literature overviews. Finally, we validate our approach by deriving the safety map for a pick and place task, which allows us to assess human safety and guide the task/robot designer how to take measures in order to account for both safety and task performance requirements, respectively.
AB - Close physical human-robot interaction makes it essential to ensure human safety. In particular, the intrinsic safety characteristics of a robot in terms of potential human injury have to be understood well. Then, minimal potential harm can be made a key requirement already at an early stage of the robot design. In this letter, we propose the safety map concept, a map that captures human injury occurrence and robot inherent global or task-dependent safety properties in a unified manner, making it a novel, powerful, and convenient tool to quantitatively analyze the safety performance of a certain robot design. In this letter, we derive the concept and elaborate the map representations of the PUMA 560, KUKA Lightweight Robot IV+, and injury data of the human head and chest. For the latter, we classify and summarize the most relevant impact studies and extend existing literature overviews. Finally, we validate our approach by deriving the safety map for a pick and place task, which allows us to assess human safety and guide the task/robot designer how to take measures in order to account for both safety and task performance requirements, respectively.
KW - human-centered robotics
KW - physical human-robot interaction
KW - Robot safety
UR - http://www.scopus.com/inward/record.url?scp=85062286411&partnerID=8YFLogxK
U2 - 10.15488/3573
DO - 10.15488/3573
M3 - Article
AN - SCOPUS:85062286411
VL - 3
SP - 1880
EP - 1887
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
SN - 2377-3766
IS - 3
ER -