Injury evaluation of human-robot impacts

Haddadin, Sami; Albu‐Schäffer, Alin; Strohmayr, Michael; Frommberger, Mirko; Hirzinger, Gerd

doi:10.1109/robot.2008.4543534

Cited by 17 publications

(11 citation statements)

References 11 publications

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“…CC is the deflection of the chest and VC the relative deflection times intrusion velocity (see [2] for definition). The corresponding EuroNCAP injury level 10 The presented simulations can be considered as a conservative but nevertheless realistic upper bound [11]. 11 For this simulation the KR3-SI is assumed to have no intermediate flange with breakaway function, i.e.…”

Section: Facial Impact Forces and Chest Criteria With Clampingmentioning

confidence: 99%

Safe Physical Human-Robot Interaction: Measurements, Analysis and New Insights

Haddadin¹,

Albu-Schäffer²,

Hirzinger³

2010

Springer Tracts in Advanced Robotics

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Summary. Physical human-robot interaction and cooperation has become a topic of increasing importance and of major focus in robotics research. Industrial and domestic applications unifying the workspace of humans and robots are foreseeable in the close future and will require safe and dependable robot design and control. In this paper we will give an overview of our systematic evaluation of safety in human-robot interaction, covering various aspects of major significance. Based on initial impact tests we carried out with the DLR-LWRIII, several industrial robots of increasing weight were evaluated and the influence of robot mass and velocity was investigated. Such non-constrained impacts are only partially capturing the nature of human-robot safety. A possibly constrained environment and its effect on resulting injuries have to be discussed and evaluated.Apart from these impact tests and simulations we will analyze the major problem of quasi-static clamping, which poses under certain circumstances a serious threat to the human even for low-inertia robots. After treating blunt impacts and contacts with and without the human being clamped, various soft-tissue injuries likely to occur in robotics and related physical injury tolerances are introduced. Finally, possible injuries relevant in robotics are summarized and systematically classified.

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Section: Facial Impact Forces and Chest Criteria With Clampingmentioning

confidence: 99%

Safe Physical Human-Robot Interaction: Measurements, Analysis and New Insights

Haddadin¹,

Albu-Schäffer²,

Hirzinger³

2010

Springer Tracts in Advanced Robotics

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“…According to Karwowski's report, in most of the reported lethal robot accidents the robot forced and clamped or crushed a person against a stationary object [12]. According to tests run by Haddadin et al [8] it is unlikely (but possible) for a robot to strike a person lethally in an open space. The danger becomes substantial, even at low speeds, if a person is crushed against a rigid object.…”

Section: Related Work: Human-robot Interaction and Risk Studiesmentioning

confidence: 99%

“…The head acceleration and HIC value (Head injury criteria) are compared with car crushing tests (EuroNCAP), and impacts with sharp objects are not included, since the danger is obvious and difficult to measure. Impacts which don't involve clamping can nevertheless lead to less serious injuries such as bone fractures [7][8][9].…”

Section: Related Work: Human-robot Interaction and Risk Studiesmentioning

confidence: 99%

Safety of Interactive Robotics—Learning from Accidents

Malm

Viitaniemi

Latokartano

et al. 2010

Int J of Soc Robotics

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Finland is ranked rather high in international robot density statistics. In Finland, robots are typically used in applications where they operate in close proximity to humans. The research described in this paper, sourced from Finnish databases, identified 25 severe accidents which can be attributed to robots. The current accident data can provide an insight into the type of accidents associated with future human-robot interaction (HRI) applications. Accident statistics indicate that most of the severe robot-related accidents involved crushing a person against a rigid object. As crushing hazards currently dominate accident statistics, and with HRI applications becoming increasingly common, humans are expected to be exposed to more crushing hazards in the future. The close proximity of the robots means that there is very little time to escape from crushing hazard. The prevention of collisions between robots and humans is paramount to reducing the amount of accidents. Actions to diminish the T. Malm ( ) · J. Viitaniemi · S. Lind · O. Venho-Ahonen · J. Schabel VTT, effects of any subsequent collision are also important. The control after a collision, however, needs to be very quick in order to minimise the damage caused by an impact. Current practice demands that upon detection of a collision, active movements are typically not allowed without a human supervision. Moving a robot away to a safe position and releasing any pressure against a person may save lives, but would entail some adjustments or new interpretations of the current safety requirements.

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“…Smart manufacturing in which humans and robots work in close proximity will require robots to have a much better sense of how they touch objects and people [5], [6]. Medical applications including prosthetics can benefit from understanding where pressure "hot-spots" are located.…”

Section: Introductionmentioning

confidence: 99%

Large area all-elastomer capacitive tactile arrays

Block

Bergbreiter

2013

2013 Ieee Sensors

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This work demonstrates the first low cost, allelastomer capacitive tactile arrays compatible with roll-to-roll manufacturing. A new manufacturing process has been developed in which elastomer sheets are covered with a stencil, spray coated with conductive elastomer on one or both sides, and stacked to create the sensor array. These arrays are highly flexible and can withstand large strains. Sensor costs are below $0.05/sensor in small quantities. The fabrication process results in a slightly curved sensor so the change in capacitance is highly nonlinear at low pressures, but approaches theoretical sensitivities of approximately 5 fF/kPa at higher pressures. Sensor resolution was measured to be less than 20 Pa and data taken from an array of sensors demonstrates the detection of multiple force contact points.

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Injury evaluation of human-robot impacts

Cited by 17 publications

References 11 publications

Safe Physical Human-Robot Interaction: Measurements, Analysis and New Insights

Safe Physical Human-Robot Interaction: Measurements, Analysis and New Insights

Safety of Interactive Robotics—Learning from Accidents

Large area all-elastomer capacitive tactile arrays

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