A Real-Time Human-Robot Collision Safety Evaluation Method for Collaborative Robot

Shin, Heonseop; Kim, Sang-Hoon; Seo, Kwang; Rhim, Sungsoo

doi:10.1109/irc.2019.00106

Cited by 13 publications

(7 citation statements)

References 5 publications

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“…By predicting the collision pressure and force before the collision, the proposed method guides the robot in managing its task while complying with the ISO/TS 15066 collision safety threshold. This article is an extension of our previously published work [7].…”

Section: Introductionmentioning

confidence: 74%

“…The widely used Hertzian model operates under the assumptions of elastic strain, continuous surfaces, elastic half-space, and frictionless surfaces. For a more accurate estimation, a penetration-based one-layer, nonlinear contact model has been suggested [7,13]. The characteristics of human skin are highly nonlinear and exhibit greater nonlinearity when considering the depth of the contact area.…”

Section: Contact Modelmentioning

confidence: 99%

“…In order to overcome these limitations, a one-layered, nonlinear contact model based on penetration was proposed [7,13]. This mathematical model covers the nonlinear elasticity of human skin and also includes several impactor shapes for computation.…”

Section: Introductionmentioning

confidence: 99%

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A Virtual Pressure and Force Sensor for Safety Evaluation in Collaboration Robot Application

Shin

Kim

Seo

et al. 2019

Sensors

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Recent developments in robotics have resulted in implementations that have drastically increased collaborative interactions between robots and humans. As robots have the potential to collide intentionally and/or unexpectedly with a human during the collaboration, effective measures to ensure human safety must be devised. In order to estimate the collision safety of a robot, this study proposes a virtual sensor based on an analytical contact model that accurately estimates the peak collision force and pressure as the robot moves along a pre-defined path, even before the occurrence of a collision event, with a short computation time. The estimated physical interaction values that would be caused by the (hypothetical) collision were compared to the collision safety thresholds provided within ISO/TS 15066 to evaluate the safety of the operation. In this virtual collision sensor model, the nonlinear physical characteristics and the effect of the contact surface shape were included to assure the reliability of the prediction. To verify the effectiveness of the virtual sensor model, the force and pressure estimated by the model were compared with various experimental results and the numerical results obtained from a finite element simulation.

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Section: Introductionmentioning

confidence: 74%

Section: Contact Modelmentioning

confidence: 99%

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A Virtual Pressure and Force Sensor for Safety Evaluation in Collaboration Robot Application

Shin

Kim

Seo

et al. 2019

Sensors

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“…This is the reason why the researchers are focusing mainly on this aspect. [26], [16] refer to the only safety standard that was designed specifically for cobots, ISO/TS 15066:2016, in order to guarantee the safety of their system. They perform physical tests to make sure that the system is compliant with this standard (i.e.…”

Section: A Evaluation Of Safety Of Cobotsmentioning

confidence: 99%

Evaluation of intelligent collaborative robots: a review

Silva

Régnier

Makarov

et al. 2023

2023 IEEE/SICE International Symposium on System Integration (SII)

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Intelligent collaborative robots or smart cobots can achieve high levels of flexibility by combining the human ability to adapt to new tasks with the performance of automated robots (precision, repeatability, etc.). This is a major innovation for Industry 4.0. Nevertheless, at present, cobots are not widely deployed in industry because they are difficult to evaluate and current standards for them are limited. The evaluation of collaborative tasks is difficult due to their specificities such as the variability of human behavior, artificial intelligence systems (e.g., smart cameras), and advanced control laws. This paper is a short review that aims to identify the methods and material resources needed to address this need for evaluation of intelligent cobots to foster their development and acceptability.

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“…Benefiting from the large-scale and mature application of joint-link rigid manipulators in industry, traditional space robots mostly use single or multiple traditional arms with rigid joints to operate [ 3 ]. However, their rigid link structure tends to be the cause of unwanted collisions which do harm to targets [ 4 , 5 , 6 ]. Besides, rigid manipulators composed of discrete joints have few degrees of freedom (DOF).…”

Section: Introductionmentioning

confidence: 99%

A Novel Space Robot with Triple Cable-Driven Continuum Arms for Space Grasping

Dai

Chen

et al. 2023

Micromachines

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With the increasing demand of human beings for space exploration, space robots show great development potential. When grasping space objects with different sizes and shapes, cable-driven continuum arms have better performance than traditional robots. In this paper, a novel space robot with triple cable-driven continuum arms is proposed, which can achieve compliant grasping through multi-arm cooperation. The kinematic model of the robot is proposed and verified through simulations and experiments. Results show that the maximum repeat positioning error is no larger than 1 mm and the maximum tracking error is no larger than 2 mm, compared to the 300 mm long arm. In addition, the demonstration experiment of grasping a ball indicates the good performance of the robot in compliant grasping.

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A Real-Time Human-Robot Collision Safety Evaluation Method for Collaborative Robot

Cited by 13 publications

References 5 publications

A Virtual Pressure and Force Sensor for Safety Evaluation in Collaboration Robot Application

A Virtual Pressure and Force Sensor for Safety Evaluation in Collaboration Robot Application

Evaluation of intelligent collaborative robots: a review

A Novel Space Robot with Triple Cable-Driven Continuum Arms for Space Grasping

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