Evaluation of Biofidelity and a Proposal for Simplification of a Human-inspired Safety Dummy

Hirata, Aoto; Shimaoka, Yoshihiro; Okamoto, Tatsuo; Watanabe, Ryoji; Ydmada, Y.

doi:10.1109/isr50024.2021.9419573

Cited by 3 publications

(7 citation statements)

References 8 publications

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“…We believe that the findings of this study may have significant implications and provide useful information for the development of safety measurement systems in HMI, especially for improving future artificial limbs or dummy skins (Hirata et al, 2021;Pungrasmi, 2019).…”

Section: Discussionmentioning

confidence: 87%

“…All existing safety standards and investigations provide minimal guidance on conducting safety tests but have not established a standard testing device, such as the one introduced by (Falco et al, 2012; Hirata et al, 2021; Pungrasmi, 2019). Therefore, without establishing a standard testing device, ensuring human safety and avoiding injury is speculative.…”

Section: Introductionmentioning

confidence: 99%

“…Furthermore, they are unable to show the differences in soft tissue responses under dynamic and static contact (Karunaratne et al, 2018; Omari et al, 2015), both of which occur during physical contact between humans and machines in HMI. Recently, Panasonic Corporation designed a safety dummy to mimic the nonlinear behavior of soft tissues (Hirata et al, 2021; Pungrasmi, 2019). Although they tested their dummy during dynamic and QS contacts, their dummy could not be proposed as a standard test device because the stiffness of their dummy materials was determined to simulate human soft tissue responses under limited impact conditions (Hirata et al, 2021).…”

Section: Introductionmentioning

confidence: 99%

“…Recently, Panasonic Corporation designed a safety dummy to mimic the nonlinear behavior of soft tissues (Hirata et al, 2021;Pungrasmi, 2019).…”

mentioning

confidence: 99%

“…Although they tested their dummy during dynamic and QS contacts, their dummy could not be proposed as a standard test device because the stiffness of their dummy materials was determined to simulate human soft tissue responses under limited impact conditions (Hirata et al, 2021).…”

mentioning

confidence: 99%

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

Rajaei

Fujikawa

Yamada

2023

Hum Ftrs & Erg Mfg Svc

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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.

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Section: Discussionmentioning

confidence: 87%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…Recently, Panasonic Corporation designed a safety dummy to mimic the nonlinear behavior of soft tissues (Hirata et al, 2021;Pungrasmi, 2019).…”

mentioning

confidence: 99%

mentioning

confidence: 99%

See 3 more Smart Citations

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

Rajaei

Fujikawa

Yamada

2023

Hum Ftrs & Erg Mfg Svc

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A Pendulum Approach to Understanding the Dynamics of Transient Contact in Human-Robot Collaboration

Samarathunga,

Bertagna,

Fassi

et al. 2024

2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA)

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Solution of contact pressure between robot edge with soft covering and human body surface considering nonlinear elasticity

MORITA,

YAMADA

2024

Transactions of the JSME (In Japanese)

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In building a human-robot cooperative system, it is an important issue to reduce the harm caused by contact with the robot. A protective measure for a robot with a sharp and highly rigid surface is to smoothen the surface shape and reduce the rigidity in order to increase the contact area, and protection with a soft covering is effective. In this research, we focus on the event when the edge of the robot contacts the human body, especially the outer arms or legs. In order to design an appropriate soft covering, it is necessary to estimate the contact pressure between each part of the human body and the edge covered with the soft covering. The contact pressure can be derived from a contact model that considers the curved surface shape of the human body, the radius of curvature of the soft covering and edges, and the stress balance that considers the elastic modulus that hardens the hardness of the human body and the soft covering according to the compressive strain.Then, the validity of the proposed method was confirmed by material experiments to grasp the material properties and experiments simulating contact, using appropriate materials for the contact model targeted in this research. The proposed method can contribute to understanding the tendency of contact pressure by arbitrarily estimating the curvature radius of the edge and the hardness and thickness of the protective covering that covers the surface when applying the soft covering to the edge of the robot surface.

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Evaluation of Biofidelity and a Proposal for Simplification of a Human-inspired Safety Dummy

Cited by 3 publications

References 8 publications

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

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

A Pendulum Approach to Understanding the Dynamics of Transient Contact in Human-Robot Collaboration

Solution of contact pressure between robot edge with soft covering and human body surface considering nonlinear elasticity

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