Towards a novel safety norm for domestic robotics

Wassink, Martin; Stramigioli, Stefano

doi:10.1109/iros.2007.4399199

Cited by 29 publications

(33 citation statements)

References 6 publications

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“…Blunt impacts are investigated (Haddadin et al, 2008;Park and Song, 2009), singularity poses of robot arms are examined (Haddadin et al, 2010), or pneumatic actuated robot arms are taken into account (Damme et al, 2010). Further investigations are concerned with material properties, shape, acceptable velocity of the robot, and so forth (Wassink and Stramigioli, 2007), to mention only few.…”

Section: Determining the Injury Potential Of Collisionsmentioning

confidence: 99%

Safety of Autonomous Cognitive-oriented Robots

Ertle¹

2015

Künstl Intell

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Service robots shall very soon autonomously provide services in all spheres of life. They have to execute demanding and complex tasks in a dynamic environment, collaborate with human users in a natural and intuitive way and adapt themselves to varying conditions. It can be assumed that complex robots have to be able to learn, if they shall be able to provide complex tasks in unstructured environments in an autonomous fashion. The capability to 'act autonomously' is often mentioned in conjunction with robots, however, the perception and understanding of the term autonomy varies among the different research fields. Therefore, a closer look is taken at robot autonomy and intelligence, in particular, with regard to current and future robots. From this perspective, implications for safety are derived concerning safe autonomous behavior.In order to push forward the robot safety in the light of safe behavior in complex environments, a novel classification of robot hazards is provided. Based on this, the so-called object interaction hazards are derived which arise when objects that are, for instance, located in the near environment, interact with objects that are manipulated by a robot. Taking into account the current state-of-the-art, it can be stated that this denotes a novel problem area. This problem area is so far addressed neither in current research work, nor in the relevant standards.The new type of hazards can be assigned to a group of hazards that originate from the interaction with a complex and unstructured environment. In order to sufficiently consider the environment and operation context, the robot has to be aware of it. In the field of cognitive (technical and biological) systems, this key capability can be called 'situation awareness ' (cf. Söffker, 2008). Based on Endsley (1995)'s definition of situation awareness, Wardziński (2008) proposes the 'dynamic risk assessment' approach, which shall enable the robot perceive the risk of current and upcoming situations. In order to realize such a risk-aware planning system for the first time, dynamic risk assessment is integrated within a cognitive architecture in order to utilize cognitive functions, such as anticipation, planning and learning. Here, the so-called action spaces (sets of possible upcoming situations) are dynamically anticipated within the underlying cognitive architecture, and a risk assessment component assesses them with regard to comprised risks. Thus, the generated risk information can be utilized for a risk-aware action planning. The proper operation of this integrating concept is demonstrated via simulations and with a robot experiment.In order to consider (object interaction) hazards by means of dynamic risk assessment, (initial) knowledge about hazards is required. Thus, a novel procedural model is developed for systematically generating a safety knowledge base. In this connection, the concept is to formalize risk models (risk description rules) in a generalized manner so that they remain valid for future, and so far unknown si...

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Section: Determining the Injury Potential Of Collisionsmentioning

confidence: 99%

Safety of Autonomous Cognitive-oriented Robots

Ertle¹

2015

Künstl Intell

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“…A method to evaluate skin stress in blunt impact depending on the shape and material properties of the robotic arm was proposed in [15]. A detailed study of a realistic collision model of a robot arm with soft covering and human head with multi-layer structure for covering design to prevent softtissue injuries was presented in [16].…”

Section: Safety Metricsmentioning

confidence: 99%

“…Methods for estimation of contact force and stress were presented in [15] and [16]. We extend these methods for robotic arms with joint elasticity by considering the potential energy stored in the springs.…”

Section: A Dynamic Impactmentioning

confidence: 99%

Investigation of safety in human-robot-interaction for a series elastic, tendon-driven robot arm

Lens

Stryk

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents the design of the lightweight BioRob manipulator with spring-loaded tendon-driven actuation developed for safe physical human-robot interaction. The safety of the manipulator is analyzed by an analytical worstcase estimation of impact and clamping forces in the absence of collision detection. As intrinsic joint compliance can pose a threat by storing energy, a safety evaluation method is proposed taking the potential energy stored in the elastic actuation into account. The evaluation shows that the robot arm design constrains the worst case clamping forces to only 25 N, while being able to handle loads up to 2 kg, and inherits extremely low impact properties, such as an effective mass of less than 0.4 kg in non near-singular configurations, enabling safe operation even in case of high velocities. The results are validated in simulation and experiments.

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“…Only in the last few years, safe physical robot-human interaction has really become an active field of research again (e.g. [3,7,16,18,21,25,28,37,[42][43][44]). Very recently, Haddadin et al [13][14][15] have produced various publications with a thorough overview on the subject, including interesting impact experiments.…”

Section: Introductionmentioning

confidence: 99%

Intrinsically Safe Robot Arm: Adjustable Static Balancing and Low Power Actuation

Vermeulen

Wisse

2010

Int J of Soc Robotics

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We present a design for a manipulator that is intrinsically mechanically safe, i.e. it can not cause pain (let alone damage) to a human being even if the control system has a failure. Based on the pressure pain thresholds for human skin, we derive a pinching safety constraint that limits the actuator torque, and an impact safety constraint that results in a trade-off between mass and velocity. To fulfill all constraints, the manipulator requires a spring balancing system that counteracts gravity in all configurations of the manipulator. This allows the use of extremely low-power DC motors (only 4.5 W). Thanks to the torque and speed limitations of these motors the manipulator is indeed intrinsically safe, yet still capable of moving a useful payload of 1.2 kg over a distance of 0.8 m in 1.5 s.

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Towards a novel safety norm for domestic robotics

Cited by 29 publications

References 6 publications

Safety of Autonomous Cognitive-oriented Robots

Safety of Autonomous Cognitive-oriented Robots

Investigation of safety in human-robot-interaction for a series elastic, tendon-driven robot arm

Intrinsically Safe Robot Arm: Adjustable Static Balancing and Low Power Actuation

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