Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion

Sami Haddadin; Simon Haddadin; Augusto Khoury; Tim Rokahr; Sven Parusel; Rainer Burgkart; Antonio Bicchi; Alin Albu-Schäffer

doi:10.1515/auto-2012-0236

Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion

Translated title of the contribution: Biomechanically safe velocity controller for human-robot interaction

Sami Haddadin, Simon Haddadin, Augusto Khoury, Tim Rokahr, Sven Parusel, Rainer Burgkart, Antonio Bicchi, Alin Albu-Schäffer

Chair of Orthopedics and Sports Orthopedics

Research output: Contribution to journal › Article › peer-review

3 Scopus citations

Abstract

In this paper, we approach the problem of generating human safe robot velocities. For this, we analyze the relation between robot mass, velocity, impact geometry, and resulting injury qualified in medical terms. We transform these insights into processable representations and propose amotion controller that utilizes injury knowledge for generating safe robot motions. For this, the algorithm takes into account the reflected inertia, velocity, and geometry at possible impact locations.

Translated title of the contribution	Biomechanically safe velocity controller for human-robot interaction
Original language	German
Pages (from-to)	175-187
Number of pages	13
Journal	At-Automatisierungstechnik
Volume	62
Issue number	3
DOIs	https://doi.org/10.1515/auto-2012-0236
State	Published - Mar 2014

Access to Document

10.1515/auto-2012-0236

Cite this

@article{5636b41593974ef19ca82041cd1f96d4,

title = "Biomechanisch sichere Geschwindigkeitsregelung f{\"u}r die Mensch-Roboter Interaktion",

abstract = "In this paper, we approach the problem of generating human safe robot velocities. For this, we analyze the relation between robot mass, velocity, impact geometry, and resulting injury qualified in medical terms. We transform these insights into processable representations and propose amotion controller that utilizes injury knowledge for generating safe robot motions. For this, the algorithm takes into account the reflected inertia, velocity, and geometry at possible impact locations.",

keywords = "Injury biomechanics, Physical human-robot interaction, Robot safety, Robotics, Velocity control",

author = "Sami Haddadin and Simon Haddadin and Augusto Khoury and Tim Rokahr and Sven Parusel and Rainer Burgkart and Antonio Bicchi and Alin Albu-Sch{\"a}ffer",

note = "Funding Information: Danksagung: Diese Arbeit wurde durch das European Commission{\textquoteright}s Sixth Framework Programme im Rahmen der Projekts SAPAHRI (grant no. 287513) gef{\"o}rdert.",

year = "2014",

month = mar,

doi = "10.1515/auto-2012-0236",

language = "Deutsch",

volume = "62",

pages = "175--187",

journal = "At-Automatisierungstechnik",

issn = "0178-2312",

publisher = "De Gruyter Oldenbourg",

number = "3",

}

TY - JOUR

T1 - Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion

AU - Haddadin, Sami

AU - Haddadin, Simon

AU - Khoury, Augusto

AU - Rokahr, Tim

AU - Parusel, Sven

AU - Burgkart, Rainer

AU - Bicchi, Antonio

AU - Albu-Schäffer, Alin

N1 - Funding Information: Danksagung: Diese Arbeit wurde durch das European Commission’s Sixth Framework Programme im Rahmen der Projekts SAPAHRI (grant no. 287513) gefördert.

PY - 2014/3

Y1 - 2014/3

N2 - In this paper, we approach the problem of generating human safe robot velocities. For this, we analyze the relation between robot mass, velocity, impact geometry, and resulting injury qualified in medical terms. We transform these insights into processable representations and propose amotion controller that utilizes injury knowledge for generating safe robot motions. For this, the algorithm takes into account the reflected inertia, velocity, and geometry at possible impact locations.

AB - In this paper, we approach the problem of generating human safe robot velocities. For this, we analyze the relation between robot mass, velocity, impact geometry, and resulting injury qualified in medical terms. We transform these insights into processable representations and propose amotion controller that utilizes injury knowledge for generating safe robot motions. For this, the algorithm takes into account the reflected inertia, velocity, and geometry at possible impact locations.

KW - Injury biomechanics

KW - Physical human-robot interaction

KW - Robot safety

KW - Robotics

KW - Velocity control

UR - http://www.scopus.com/inward/record.url?scp=84898792594&partnerID=8YFLogxK

U2 - 10.1515/auto-2012-0236

DO - 10.1515/auto-2012-0236

M3 - Artikel

AN - SCOPUS:84898792594

SN - 0178-2312

VL - 62

SP - 175

EP - 187

JO - At-Automatisierungstechnik

JF - At-Automatisierungstechnik

IS - 3

ER -

Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion

Abstract

Access to Document

Other files and links

Fingerprint

Cite this