Safe human–robot collaboration for industrial settings: a survey

Li, Weidong; Hu, Yudie; Zhou, Yong; Pham, Duc Truong

doi:10.1007/s10845-023-02159-4

Cited by 13 publications

(1 citation statement)

References 110 publications

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“…In the context of Industry 4.0, collaborative robotics refers to the integration of robots into modern manufacturing processes in a way that allows for safe human-robot interaction. This technology enables human workers to operate alongside robots without the need for physical barriers, improving efficiency and productivity while maintaining a safe work environment [1,2]. In order to guarantee safety of both human workers and robots, specific measures are crucial to minimize injuries to human operators in case of contacts [3][4][5] or to prevent unsafe physical interaction by means of collision avoidance strategies [6,7].…”

Section: Introductionmentioning

confidence: 99%

An experimental evaluation of robot-stopping approaches for improving fluency in collaborative robotics

Scalera,

Lozer,

Giusti

et al. 2024

Robotica

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This paper explores and experimentally compares the effectiveness of robot-stopping approaches based on the speed and separation monitoring for improving fluency in collaborative robotics. In the compared approaches, a supervisory controller checks the distance between the bounding volumes enclosing human operator and robot and prevents potential collisions by determining the robot’s stop time and triggering a stop trajectory if necessary. The methods are tested on a Franka Emika robot with 7 degrees of freedom, involving 27 volunteer participants, who are asked to walk along assigned paths to cyclically intrude the robot workspace, while the manipulator is working. The experimental results show that scaling online the dynamic safety zones is beneficial for improving fluency of human-robot collaboration, showing significant statistical differences with respect to alternative approaches.

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