2003
DOI: 10.1177/027836403128965079
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Safety Evaluation Method of Design and Control for Human-Care Robots

Abstract: We propose the world's first general method of evaluating safety for human-care robots. In the case of a careless collision between a robot and a human, impact force and impact stress are chosen as evaluation measures, and a danger-index is defined to quantitatively evaluate the effectiveness of each safety strategy used for design and control. As a result, this proposed method allows us to assess the contribution of each safety strategy to the overall safety performance of a human-care robot. In addition, a n… Show more

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Cited by 60 publications
(90 citation statements)
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“…At the design level, safety is often integrated directly in the system (Ikuta et al 2003;Zinn et al 2004;Haddadin et al 2010). At the control level, the work related to offline optimal trajectory planning is closely linked to joint constraints management (Brady 1982;Biagiotti and Melchiorri 2008); in spite of the context differences, 1 their recent adaptations to online frameworks (Kröger 2010) exhibit some similarities with reactive control techniques.…”
Section: Safety Criterions For Controlmentioning
confidence: 99%
“…At the design level, safety is often integrated directly in the system (Ikuta et al 2003;Zinn et al 2004;Haddadin et al 2010). At the control level, the work related to offline optimal trajectory planning is closely linked to joint constraints management (Brady 1982;Biagiotti and Melchiorri 2008); in spite of the context differences, 1 their recent adaptations to online frameworks (Kröger 2010) exhibit some similarities with reactive control techniques.…”
Section: Safety Criterions For Controlmentioning
confidence: 99%
“…The "ergonomic robot" is controlled to reduce the calculated danger index. Ikuta and Nokata (2003) developed a danger evaluation method using the potential impact force as an evaluation measure. In their work, the danger index is defined as a product of factors that affect the potential impact force between the robot and the human, such as relative distance, relative velocity, robot inertia and robot stiffness.…”
Section: Related Workmentioning
confidence: 99%
“…Herein, the robot inertia and the relative distance between the robot and the user's center of mass are used. The robot stiffness was not included as danger related to robot stiffness can be more effectively lowered through mechanical design (Ikuta and Nokata, 2003;Bicchi et al, 2001). Dynamic factors, such as the relative velocity and acceleration between the robot and the user, are handled by the trajectory planner and the safety module, discussed in Sections 2.2 and 3.2.…”
Section: Path Planningmentioning
confidence: 99%
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