In this paper, different measures for reducing the maximum contact force during blunt collisions between a robot and a human are evaluated using simulations. An existing collision model is adapted to include a nonlinear compliant covering, articular safety mechanisms (compliant joint and two types of torque limiters), and a collision detection system. Several scenarios are simulated in which the collision occurs at a low or high velocity, the head of the person (on which the collision occurs) is constrained by a wall or free to move and the reflected motor inertia is large or small compared to the link inertia. The results show that a torque limiter in series with each actuator has the potential to significantly improve safety without reducing the robot's performances.
Issue Section:
Mechanisms and Robotics
References
1.
Haddadin
, S.
, Albu-Schäffer
, A.
, and Hirzinger
, G.
, 2008
, “The Role of the Robot Mass and Velocity in Physical Human–Robot Interaction—Part I: Non-Constrained Blunt Impacts
,” IEEE International Conference on Robotics and Automation (ICRA 2008)
, pp. 1331
–1338
.2.
Haddadin
, S.
, Albu-Schäffer
, A.
, Frommberger
, M.
, and Hirzinger
, G.
, 2008
, “The Role of the Robot Mass and Velocity in Physical Human–Robot Interaction—Part II: Constrained Blunt Impacts
,” IEEE International Conference on Robotics and Automation (ICRA 2008)
, pp. 1339
–1345
.3.
Haddadin
, S.
, Albu-Schaffer
, A.
, and Hirzinger
, G.
, 2009
, “Requirements for Safe Robots: Measurements, Analysis and New Insights
,” Int. J. Rob. Res.
, 28
(11–12
), pp. 1507
–1527
.10.1177/02783649093439704.
Hirzinger
, G.
, Sporer
, N.
, Albu-Schaffer
, A.
, Hahnle
, M.
, Krenn
, R.
, Pascucci
, A.
, and Schedl
, M.
, 2002
, “DLR'S Torque-Controlled Light Weight Robot III: Are We Reaching the Technological Limits Now?
,” IEEE International Conference on Robotics and Automation (ICRA'02)
, Vol. 2
, pp. 1710
–1716
.5.
Ebert
, D.
, Komuro
, T.
, Namiki
, A.
, and Ishikawa
, M.
, 2005
, “Safe Human-Robot-Coexistence: Emergency-Stop Using a High-Speed Vision-Chip
,” IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS 2005
), Aug. 2–5, pp. 2923
–2928
.10.1109/IROS.2005.15452426.
Duchaine
, V.
, Lauzier
, N.
, Baril
, M.
, Lacasse
, M.-A.
, and Gosselin
, C.
, 2009
, “A Flexible Robot Skin for Safe Physical Human Robot Interaction
,” IEEE International Conference on Robotics and Automation
(ICRA 2009
), Kobe, Japan, May 12–17, pp. 3676
–3681
.10.1109/ROBOT.2009.51525957.
Pratt
, G.
, and Williamson
, M. M.
, 1995
, “Series Elastic Actuators
,” IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS 1995
), Pittsburgh, PA, Aug. 5–9, Vol. 1
, pp. 399
–406
.10.1109/IROS.1995.5258278.
Bicchi
, A.
, and Tonietti
, G.
, 2004
, “Fast and “Soft-Arm” Tactics [Robot Arm Design]
,” IEEE Rob. Autom. Mag.
, 11
(2
), pp. 22
–33
.10.1109/MRA.2004.13109399.
Schiavi
, R.
, Grioli
, G.
, Sen
, S.
, and Bicchi
, A.
, 2008
, “VSA-II: A Novel Prototype of Variable Stiffness Actuator for Safe and Performing Robots Interacting With Humans
,” IEEE International Conference on Robotics and Automation
(ICRA 2008
), Pasadena, CA, May 19–23, pp. 2171
–2176
.10.1109/ROBOT.2008.454352810.
Eiberger
, O.
, Haddadin
, S.
, Weis
, M.
, Albu-Schäffer
, A.
, and Hirzinger
, G.
, 2010
, “On Joint Design With Intrinsic Variable Compliance: Derivation of the DLR QA-Joint
,” IEEE International Conference on Robotics and Automation
(ICRA
), Anchorage, AK, May 3–7, pp. 1687
–1694
.10.1109/ROBOT.2010.550966211.
De Luca
, A.
, and Book
, W.
, 2008
, “Robots With Flexible Elements
,” Springer Handbook of Robotics
, B.
Siciliano
and O.
Khatib
, eds., Springer
, Berlin, Germany
, pp. 287
–319
.10.1007/978-3-540-30301-5_1412.
Park
, J.-J.
, Song
, J.-B.
, and Kim
, H.-S.
, 2008
, “Safe Joint Mechanism Based on Passive Compliance for Collision Safety
,” Recent Progress in Robotics: Viable Robotic Service to Human
, Springer, Berlin
, Heidelberg
, pp. 49
–61
.10.1007/978-3-540-76729-9_513.
Lauzier
, N.
, and Gosselin
, C.
, 2012
, “Performance Indices for Collaborative Serial Robots With Optimally Adjusted Series Clutch Actuators
,” ASME J. Mech. Rob.
, 4
(2
), p. 021002
.10.1115/1.400572314.
Park
, J.-J.
, Kim
, B.-S.
, Song
, J.-B.
, and Kim
, H.-S.
, 2008
, “Safe Link Mechanism Based on Nonlinear Stiffness for Collision Safety
,” Mech. Mach. Theory
, 43
(10
), pp. 1332
–1348
.10.1016/j.mechmachtheory.2007.10.00415.
Lauzier
, N.
, Grenier
, M.
, and Gosselin
, C.
, 2009
, “2 DOF Cartesian Force Limiting Device for Safe Physical Human–Robot Interaction
,” IEEE International Conference on Robotics and Automation (ICRA 2009)
, pp. 253
–258
.16.
Lauzier
, N.
, and Gosselin
, C.
, 2010
, “3-DOF Cartesian Force Limiting Device Based on the Delta Architecture for Safe Physical Human–Robot Interaction
,” IEEE International Conference on Robotics and Automation (ICRA 2010)
, pp. 3420
–3425
.17.
Yamada
, Y.
, Hirasawa
, Y.
, Huang
, S.
, Umetani
, Y.
, and Suita
, K.
, 1997
, “Human–Robot Contact in the Safeguarding Space
,” IEEE/ASME Trans. Mechatronics
, 2
(4
), pp. 230
–236
.10.1109/3516.65304718.
Lim
, H.
, and Tanie
, K.
, 2000
, “Human Safety Mechanisms of Human-Friendly Robots: Passive Viscoelastic Trunk and Passively Movable Base
,” Int. J. Rob. Res.
, 19
(4
), pp. 307
–335
.10.1177/0278364002206688819.
Ikuta
, K.
, Ishii
, H.
, and Nokata
, M.
, 2003
, “Safety Evaluation Method of Design and Control for Human-Care Robots
,” Int. J. Rob. Res.
, 22
(5
), pp. 281
–297
.10.1177/027836490302200500120.
Gao
, D.
, and Wampler
, C.
, 2009
, “Head Injury Criterion
,” IEEE Rob. Autom. Mag.
, 16
(4
), pp. 71
–74
.10.1109/MRA.2009.93482421.
Park
, J.-J.
, and Song
, J.-B.
, 2009
, “Collision Analysis and Evaluation of Collision Safety for Service Robots Working in Human Environments
,” International Conference on Advanced Robotics
(ICAR 2009
), pp. 1
–6
.22.
Armstrong
, B.
, Khatib
, O.
, and Burdick
, J.
, 2002
, “The Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Arm
,” IEEE International Conference on Robotics and Automation
, Vol. 3
, pp. 510
–518
.23.
Lacasse
, M.
, Duchaine
, V.
, and Gosselin
, C.
, 2010
, “Characterization of the Electrical Resistance of Carbon-Black-Filled Silicone: Application to a Flexible and Stretchable Robot Skin
,” IEEE International Conference on Robotics and Automation
(ICRA
), Anchorage, AK, May 3–7, pp. 4842
–4848
.10.1109/ROBOT.2010.550928324.
Shergold
, O.
, Fleck
, N.
, and Radford
, D.
, 2006
, “The Uniaxial Stress Versus Strain Response of Pig Skin and Silicone Rubber at Low and High Strain Rates
,” Int. J. Impact Eng.
, 32
(9
), pp. 1384
–1402
.10.1016/j.ijimpeng.2004.11.01025.
Song
, B.
, and Chen
, W.
, 2003
, “One-Dimensional Dynamic Compressive Behavior of EPDM Rubber
,” ASME J. Eng. Mater. Technol.
, 125
(3
), pp. 294
–301
.10.1115/1.158449226.
Shim
, J.
, and Mohr
, D.
, 2009
, “Using Split Hopkinson Pressure Bars to Perform Large Strain Compression Tests on Polyurea at Low, Intermediate and High Strain Rates
,” Int. J. Impact Eng.
, 36
(9
), pp. 1116
–1127
.10.1016/j.ijimpeng.2008.12.01027.
Ogden
, R.
, 1972
, “Large Deformation Isotropic Elasticity: On the Correlation of Theory and Experiment for Incompressible Rubberlike Solids
,” Proc. R. Soc. London. Ser. A
, 326
(1567
), pp. 565
–584
.10.1098/rspa.1972.002628.
Park
, J.-J.
, and Song
, J.-B.
, 2010
, “A Nonlinear Stiffness Safe Joint Mechanism Design for Human Robot Interaction
,” ASME J. Mech. Des.
, 132
(6
), p. 061005
10.1115/1.4001666.Copyright © 2015 by ASME
You do not currently have access to this content.
