A Proactive Strategy for Safe Human-Robot Collaboration based on a Simplified Risk Analysis

Sanderud, Audun; Thomessen, Trygve; Osumi, Hisashi; Niitsuma, Mihoko

doi:10.4173/mic.2015.1.2

Cited by 11 publications

(8 citation statements)

References 25 publications

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“…The level of interaction can be formalized based on the distance between the two entities, workspace share level and the complexity of collaborative tasks which both are performing mutually. Many human avoidance schemes based on human activity prediction or human and robot position estimation at the same time [33][34][35], risk prediction control [36] and augmented reality [37] are considered to be implementable in an interactive environment. There are also fatalities reported [38] in countries where usage of robots is intensive despite putting all the safety and protection protocols.…”

Section: Collaboration Classificationmentioning

confidence: 99%

A methodology to develop collaborative robotic cyber physical systems for production environments

Khalid

Kirisci

Ghrairi³

et al. 2016

Logist. Res.

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The paper identifies the need for human robot collaboration for conventional light weight and heavy payload robots in future manufacturing environment. An overview of state of the art for these types of robots shows that there exists no solution for human robot collaboration. Here, we consider cyber physical systems, which are based on human worker participation as an integrated role in addition to its basic components. First, the paper identifies the collaborative schemes and a formal grading system is formulated based on four performance indicators. A detailed sensor catalog is established for one of the collaboration schemes, and performance indices are computed with various sensors. This study reveals an assessment of best and worst possible ranges of performance indices that are useful in the categorization of collaboration levels. To illustrate a possible solution, a hypothetical industrial scenario is discussed in a production environment. Generalizing this approach, a design methodology is developed for such human robot collaborative environments for various industrial scenarios to enable solution implementation. Keywords Cyber physical system Á Human robot collaboration Á Collaborative robotics This article is part of a focus collection on ''Dynamics in Logistics: Digital Technologies and Related Management Methods''.

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Section: Collaboration Classificationmentioning

confidence: 99%

A methodology to develop collaborative robotic cyber physical systems for production environments

Khalid

Kirisci

Ghrairi³

et al. 2016

Logist. Res.

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“…The aim is that these metrics could be used to inform robot control strategies in the future. This is unlike the approaches used in [28][29][30].…”

Section: Introductionmentioning

confidence: 98%

“…Other safety approaches being researched is through the modification of the robot's current trajectory via collision risk informed control strategies. For example, in [29], the authors introduced a proactive control strategy based on risk analysis while in [30], the authors developed a Danger Index based on likelihood of an impact with a human. The danger index was increased when the human was facing away from the robot, because of the reduced likelihood of observing and being aware of the robot's motion.…”

Section: Introductionmentioning

confidence: 99%

The effectiveness of virtual environments in developing collaborative strategies between industrial robots and humans

Oyekan

Hutabarat

Tiwari

et al. 2019

Robotics and Computer-Integrated Manufacturing

151

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Testing and implementation of Human-Robot Collaboration (HRC) could be dangerous due to the high-speed movements and massive forces generated by industrial robots. Wherever humans and industrial robots share a common workplace, accidents are likely to happen and always unpredictable. This has hindered the development of human robot collaborative strategies as well as the ability of authorities to pass regulations on how humans and robots should work together in close proximities. This paper presents the use of a Virtual Reality digital twin of a physical layout as a mechanism to understand human reactions to both predictable and unpredictable robot motions. A set of established metrics as well as a newly developed Kinetic Energy Ratio metric are used to analyse human reactions and validate the effectiveness of the Virtual Reality environment. It is the aim that Virtual Reality digital twins could inform the safe implementation of Human-Robot Collaborative strategies in factories of the future.

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“…A more reliable safety strategy is essential. Sanderud [7] have presented proactive safety strategy based on a quantified measure of risk for human robot collaboration. The risk field is established based on an analysis of the human's movement and the consequence of a collision with different human limbs, combined with a likelihood analysis.…”

mentioning

confidence: 99%

A Robot Collision Avoidance Method Using Kinect and Global Vision

Huang

Yang

et al. 2017

TELKOMNIKA

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This paper introduces a robot collision avoidance method using Kinect and global vision to improve the industrial robot's security. Global vision is installed above the robot, and a combination of the background-difference method and the Otsu algorithm are used. Human skeleton detection is then Keywords: robot safety, human body skeleton detection, Kalman filter, global vision, security controlCopyright © 2017 Universitas Ahmad Dahlan. All rights reserved. IntroductionSafety control strategy must be taken to avoid the collision between the moving robot and the operators in the working space [1]. Strategies used in safe human-robot collaboration (HRC) can be broadly divided into two categories: pre-collision strategy [2-4] and post-collision strategy [5]. The former strategy detects the danger before the collision and takes measures to prevent imminent collision. While the latter one requires higher real-time performance during the collision to suppress the impact force, and ensure the security of operators and robots. Therefore, pre-collision methods can normally achieve safer result in implementation of HRC. Researchers have been working on different pre-collision methods and presenting some important findings and solutions. As one of the pre-collision methods, sensors, such as ultrasonic [6] and photoelectric sensors, are installed on the robot to detect the man-machine position. The sensors identify the danger and then the robots will be immediately stopped. Such security strategy is very simple, and greatly reduce the reliability of collision avoidance and the work efficiency of the robot.The robot should follow the collision avoidance strategy at all run time. A more reliable safety strategy is essential. Sanderud [7] have presented proactive safety strategy based on a quantified measure of risk for human robot collaboration. The risk field is established based on an analysis of the human's movement and the consequence of a collision with different human limbs, combined with a likelihood analysis. Similarly, a simulation tool using real-world geometrical data was proposed to investigate different algorithms and safety strategies [8]. Kulić [9, 10] suggested a method of robot safe trajectory planning based on the mechanical principle of the minimizing danger index. However, the application of this method is limited by the large number of environmental data required.One of the most common and useful technologies used to detect intruding obstacles is robot vision. The robot vision has been developed in recent years, and could be a feasible solution in the collision avoidance strategy. A robot manipulator automatic path planning strategy based on 3D-TOF sensor was presented in peg-in-hole assembly process [11]. Similarly, a two fold strategy was presented to automatically generate safe path for robot trajectory based on data from TOF sensor [12]. Kuhn [13] used monocular vision to measure the human-robot distance in manipulator space and thus identified the risk. Yet this method is not conducive to th...

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A Proactive Strategy for Safe Human-Robot Collaboration based on a Simplified Risk Analysis

Cited by 11 publications

References 25 publications

A methodology to develop collaborative robotic cyber physical systems for production environments

A methodology to develop collaborative robotic cyber physical systems for production environments

The effectiveness of virtual environments in developing collaborative strategies between industrial robots and humans

A Robot Collision Avoidance Method Using Kinect and Global Vision

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