Identifying Safety Conditions of Human-Robot Collision based on Skin Injury Analysis

Han, Doyeon; Park, Moon Young; Shin, Heonsheop; Kim, Kyung Sook; Rhim, Sungsoo

doi:10.1109/urai.2018.8441793

Cited by 7 publications

(4 citation statements)

References 4 publications

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“…Theoretically, the maximum impact velocity was 3.3 m/s, but a value of 2 m/s was set for the tests. The maximum impact velocity of 2 m/s was set considering the results of a previous study on skin injury based on minipig skin tissue ( Han et al, 2018 ). In the first trial, the subjects filled out questionnaires regarding their body size, vital signs, current medical conditions and medications, drug abnormalities, allergies to metals, sleep patterns, and mood conditions.…”

Section: Methodsmentioning

confidence: 99%

“…To clarify safety criteria for collisions, the biomechanical limitations have been measured ( Yamada et al, 1997 ; Melia et al, 2015 ; Park et al, 2019 ; Behrens et al, 2022 ; Han et al, 2022 ). For example, in addition with clinical trials, collision experiments with porcine skin tissue with properties similar to the human skin were conducted to identify the propensity for injury based on mechanical parameters ( Mao et al, 2017 ; Han et al, 2018 ; SUGIURA et al, 2022 ). Moreover, through clinical analysis of the collided porcine soft tissue, the collision conditions (e.g., effective mass of the robot, impact velocity, and geometry) that could lead to injury were quantified and applied to robot safety control ( Haddadin et al, 2012 ).…”

Section: Introductionmentioning

confidence: 99%

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

Han,

Park,

Choi

et al. 2024

Front. Robot. AI

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With the growing demand for robots in the industrial field, robot-related technologies with various functions have been introduced. One notable development is the implementation of robots that operate in collaboration with human workers to share tasks, without the need of any physical barriers such as safety fences. The realization of such collaborative operations in practice necessitates the assurance of safety if humans and robots collide. Thus, it is important to establish criteria for such collision scenarios to ensure robot safety and prevent injuries. Collision safety must be ensured in both pinching (quasi-static contact) and impact (transient contact) situations. To this end, we measured the force pain thresholds associated with impacts and evaluated the biomechanical limitations. This measurements were obtained through clinical trials involving physical collisions between human subjects and a device designed for generating impacts, and the force pain thresholds associated with transient collisions between humans and robots were analyzed. Specifically, the force pain threshold was measured at two different locations on the bodies of 37 adults aged 19–32 years, using two impactors with different shapes. The force pain threshold was compared with the results of other relevant studies. The results can help identify biomechanical limitations in a precise and reliable manner to ensure the safety of robots in collaborative applications.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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

Han,

Park,

Choi

et al. 2024

Front. Robot. AI

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“…The regime deals with scenarios where the human and robot get into contact by limiting the forces and pressures exerted on the human. The specific limits imposed by the standard are debated [3], [9], [10], [11]. However, we will use them as a baseline from which we draw the corresponding force or velocity limits.…”

Section: Introductionmentioning

confidence: 99%

Effect of Active and Passive Protective Soft Skins on Collision Forces in Human-robot Collaboration

Svarny¹,

Rozlivek²,

Rustler³

et al. 2022

Preprint

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Soft electronic skins are one of the means to turn a classical industrial manipulator into a collaborative robot. For manipulators that are already fit for physical human-robot collaboration, soft skins can make them even safer. In this work, we study the after impact behavior of two collaborative manipulators (UR10e and KUKA LBR iiwa) and one classical industrial manipulator (KUKA Cybertech), in the presence or absence of an industrial protective skin (AIRSKIN). In addition, we isolate the effects of the passive padding and the active contribution of the sensor to robot reaction. We present a total of 2250 collision measurements and study the impact force, contact duration, clamping force, and impulse. This collected dataset is publicly available. We summarize our results as follows. For transient collisions, the passive skin properties lowered the impact forces by about 40 %. During quasistatic contact, the effect of skin covers-active or passive-cannot be isolated from the collision detection and reaction by the collaborative robots. Important effects of the stop categories triggered by the active protective skin were found. We systematically compare the different settings and compare the empirically established safe velocities with prescriptions by the ISO/TS 15066. In some cases, up to the quadruple of the ISO/TS 15066 prescribed velocity can comply with the impact force limits and thus be considered safe. We propose an extension of the formulas relating impact force and permissible velocity that take into account the stiffness and compressible thickness of the protective cover, leading to better predictions of the collision forces. At the same time, this work emphasizes the need for in situ measurements as all the factors we studied-presence of active/passive skin, safety stop settings, robot collision reaction, impact direction, and, of course, velocity-have effects on the force evolution after impact.

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“…Nevertheless, it the level of acceptable injury needs to be specified. A study of collision effects [14] on a pigskin sample investigates the relevant impact force threshold that would lead to minor injuries and suggests a more restrictive threshold. It proposes a single threshold of 100 N (as opposed to the range 65-210 N based on the properties of different body regions from TS 15066).…”

Section: Introductionmentioning

confidence: 99%

3D Collision-Force-Map for Safe Human-Robot Collaboration

Svarny¹,

Rozlivek²,

Rustler³

et al. 2020

Preprint

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Collaborative robots, i.e. robots designed for direct interaction with a human, present a promising step in robotic manufacturing. However, their performance is limited by the safety demands of standards. In this article, we measure the forces exerted by two robot arms (UR10e and Kuka LBR iiwa) on an impact measuring device in different positions in the robot workspace and with various velocities. Based on these measurements, we investigate the Power and Force Limiting regime presented in ISO/TS 15066. Impact forces are in practice hard to calculate analytically as many properties of the robots are not available (e.g., proprietary control algorithms). This motivates the use of simple, yet reasonably accurate, approximations. Our results show that height of the impact location is also an important factor and that an accurate model of the robot can be created from a limited number of impact samples. Previous work predicted impact forces based on other factors (distance, velocity, weight), yet these predictions are less accurate. This would allow a fast estimation of the impact forces in the robot's workspace and thus make it easier to design a safe human-robot collaboration setup.

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Identifying Safety Conditions of Human-Robot Collision based on Skin Injury Analysis

Cited by 7 publications

References 4 publications

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

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

Effect of Active and Passive Protective Soft Skins on Collision Forces in Human-robot Collaboration

3D Collision-Force-Map for Safe Human-Robot Collaboration

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