Analyzing soft tissue stiffness of human upper arms during physical dynamic and quasi‐static impacts in human–machine interaction

Abstract

Knowledge of the changes in the behavior of human soft tissue stiffness during physical impact in human–machine interaction (HMI) plays a vital role in the development of biofidelity testing devices such as a human dummy. These testing devices are widely applied as an effective means to validate the safety of machinery during dynamic or static contact with humans in HMI. In this study, we assess changes in soft tissue stiffness in the upper arm of individuals under both dynamic (0.7 and 0.25 m/s) and quasi‐static (QS) impacts under a constrained contact condition. Three impactor shapes (cylindrical, cubic, and spherical) are used in this study. Impact experiments are conducted using impactors attached to a pendulum. The soft‐tissue displacement is determined using an ultrasound device. The impact force‐displacement curves illustrate the nonlinear behavior of the soft tissue stiffness under both dynamic and QS impacts. By utilizing the “Linear Mixed Model” statistical analysis, we found that changes in the impact velocity significantly influenced the changes in the nonlinear behavior of soft tissue stiffness while there was no significant effect of the changes in the impactor shape on the nonlinear behavior of the soft tissue stiffness. Additionally, we revealed that the changes in the soft tissue stiffness are influenced by the size of the contact area. Moreover, we demonstrated a range of changes in soft tissue stiffness for different impact velocities, which provide valuable information for developing future validation test devices in HMI, such as the design and evaluation of dummy skin.

Evaluation of force pain thresholds to ensure collision safety in worker-robot collaborative operations

“…The experimenters attempted to obtain measurements in identical conditions for each body part of all subjects. However, all contact conditions were not completely identical due to variations in the joint stiffness and tissue properties of individual subjects ( Rajaei et al, 2023 ). In addition, the differences in pain perception among subjects could lead to uncertainties in the outcomes, even when they received the same guidance for determining pain onset.…”