A failure-to-safety "Kyozon" system with simple contact detection and stop capabilities for safe human-autonomous robot coexistence

Collision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm

“…It is obviously more cost effective to be able to detect a collision without the need of additional sensors. A rather intuitive scheme is to compare the commanded torque (or, the current in an electrical drive) with the nominal modelbased command (i.e., the torque expected in the absence of collision) and looking for fast transients due to possible collision [6], [11], [12]. This approach has been refined by including adaptive compliance control [13], [14].…”

Safety Control Mechanism for Construction Working Robots in Collaboration with Human Workers

“…However, the judgment index of permissible ranges of the impulsive force and impact speed applied to the human has not been clarified for the collision between robot and human. In this case, it is rational to entrust the judgment of the acceptance to the human, and human pain tolerance [8] has already proposed. The examination based on such index will be required in the design of actual robot system.…”

Develop Human Safety Mechanism for Human-Symbiotic Mobile Manipulators: Compliant Hybrid Joints

“…Other researchers have studied collision force attenuation with human safety in mind. Suita et al (1995) and Yamada et al (1997) addressed the human-oriented design approach to developing a viscoelastic covering for the passive compliance and set up safety condition that an arm is called "safe" if the impact force is in an acceptable pain tolerance limit. Sugano (1995, 1996) and Morita, Shibuya, and Sugano (1998) developed the mechanical compliance adjuster of which the compliant springs are mounted in the Wendy robot arm's joints.…”