Critical contact pressure and transferred energy for soft tissue injury by blunt impact in human-robot interaction

Fujikawa, Tatsuo; Sugiura, Ryuji; Nishikata, Rie; Nishimoto, Tetsuya

doi:10.23919/iccas.2017.8204347

Cited by 21 publications

(8 citation statements)

References 13 publications

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“…Both a smaller cell width and larger strut CSA increase energy capacity and plateau stress. Fujikawa et al found that a peak pressure of 1.46 MPa carries a 10% probability of a minor soft tissue injury from human-robot interactions 45 ; however, further research is needed on soft tissue injury thresholds specific to sport.…”

Section: Discussionmentioning

confidence: 99%

Assessing the Design and Compressive Performance of Material Extruded Lattice Structures

Rossiter

Johnson

Bingham

2020

3D Printing and Additive Manufacturing

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With additive manufacturing increasingly being embraced in the area of sports technology, focus has shifted toward cellular structures for impact protection. Periodic lattice structures can be tailored for a specific response by modifying the geometry of individual cells, with the structure capable of being modified to conform around a given body. However, the effect of modifying specific design characteristics within a lattice and the interrelationships between them are not well understood. This study examines five geometric design variables: cell width, strut cross-sectional area (CSA), strut shape, cell orientation, and joint filleting, and their effect on the compressive behavior of a lattice structure. Truncated octahedron lattices were manufactured using nylon through the process of material extrusion and tested under compression at a constant strain rate of 1.0 s-1. Design of experiments was utilized to analyze the results by implementing a 2 (5-1) factorial design. Results indicated that the strut CSA, cell width, and interaction between the two design characteristics had the largest effects on the plateau stress of the lattice and its energy capacity.

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Section: Discussionmentioning

confidence: 99%

Assessing the Design and Compressive Performance of Material Extruded Lattice Structures

Rossiter

Johnson

Bingham

2020

3D Printing and Additive Manufacturing

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“…However, its viscosity compensates for such low elasticity and enhances the rising phase of its contact force at the upper edge of the force variation range. Dummy II is expected to be used for studies involving the total energy injury criterion [11], [12] because such energy variation is calculated through an integral of the contact force from 0 to that corresponding to the maximum compressive displacement x t p in Equation ( 1), that is, the rising phase of the contact force.…”

Section: B Biofidelity Of the Dummiesmentioning

confidence: 99%

“…In recent years, the injury criteria for different human body parts in pHRI have been stressed in the ISO documentation [8], [9]. Owing to ethical prohibition, injury criteria were estimated through substitutes of the human soft tissue, such as porcine skin [10], [11], [12]. Dummy skins have been considered as suitable substitutes for human soft tissue and used in injury validation experiments.…”

Section: Introductionmentioning

confidence: 99%

“…The biofidelity of dummies should be embodied in the viscoelasticity because the human soft tissue intrinsically possesses creep, stress relaxation, and hysteresis behaviors [19]. Viscoelasticity is crucial for quantifying the severity of injury caused by pHRI, such as the allowable transient force and power [9], [20] and the total transferred energy [11], [12].…”

Section: Introductionmentioning

confidence: 99%

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Development of Dummy Based on Impedance Properties of Human Soft Tissue Using a Nonlinear Viscoelastic Model

et al. 2023

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Securing human safety in a physical human-robot interaction (pHRI) has been extensively studied to allow for the expansion of robotic applications. Dummies with the same impedance properties as those of human soft tissues are suitable substitutes for the validation of the safety assurance of the pHRI experiment. This study demonstrated the development process of dummies with high biofidelity. A psychophysiological experiment was designed to replicate the clamping scenario, and the center of the palm, thenar eminence, and forefinger pad were selected as three soft tissues of the human hand to be impacted to obtain the dynamic response of the contact force. A nonlinear five-element viscoelastic model was developed to quantify the viscoelasticity of the three soft tissues through curve fitting of the contact force. Subsequently, three dummies were fabricated using a polyurethane resin material. The biofidelity of the dummies was examined via a parametric comparison with the soft tissues and curve comparisons to examine whether the steady-state force and the dynamic response of the contact force were located within the corresponding ranges enclosed by the calibration curves of the soft tissues. All three dummies showed high biofidelity in the case where the steady-state force exceeded approximately 5 N, even though they have different nonlinearity of elasticity from that of soft tissues.INDEX TERMS Physical human-robot interaction, impedance property, viscoelasticity, dummy development, nonlinear viscoelastic model, human soft tissue.

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“…The main purpose of these studies is to collect medical findings on subcutaneous hemorrhages. Therefore, we have constructed an in vivo impact experiment method to develop these methods into resistance evaluation of subcutaneous hemorrhage (Fujikawa et al (2017b); Sugiura et al (2019)). In this report, we discuss the resistance evaluation of subcutaneous hemorrhage by the in vivo impact experiments we constructed.…”

mentioning

confidence: 99%

<i>In vivo</i> impact tests assuming human–robot contact to evaluate soft tissue bruise injury tolerance

Sugiura

Ikarashi

Suzuki

et al. 2022

Mechanical Engineering Journal

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In this study, we performed in vivo impact experiments emulating physical contact between humans and personal care robots and evaluated the conditions resulting in bruise injury due to subcutaneous hemorrhage and injury resistance. Anesthetized live pigs were used as alternate specimens, and the experiments were performed using a self-made free-fall impact tester. We investigated the existence of subcutaneous hemorrhage and performed its quantitative evaluation by hematoxylin and eosin (HE) staining of soft tissue samples at the site of the impact load. The results showed that bleeding, adopted as the indicator of bruise injury, occurred when the total energy transferred (an index of injury resistance) was 46.8 kJ/m 2 . Further, when the net energy transferred was used as the injury resistance evaluation index, the threshold value for bleeding was 30.3 kJ/m 2 . When the maximum stress was used as the injury resistance evaluation index, the threshold value for bleeding was 1.14 MPa. To investigate the possibility of adopting the injury resistance threshold of the alternate specimens obtained in this study as the injury resistance threshold of humans, we studied the capillary bleeding resistances of the test specimens experimentally. We compared these values with the capillary resistance of humans and examined the bleeding capillaries' fragility.

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Critical contact pressure and transferred energy for soft tissue injury by blunt impact in human-robot interaction

Cited by 21 publications

References 13 publications

Assessing the Design and Compressive Performance of Material Extruded Lattice Structures

Assessing the Design and Compressive Performance of Material Extruded Lattice Structures

Development of Dummy Based on Impedance Properties of Human Soft Tissue Using a Nonlinear Viscoelastic Model

<i>In vivo</i> impact tests assuming human–robot contact to evaluate soft tissue bruise injury tolerance

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