Mean Reflected Mass: A Physically Interpretable Metric for Safety Assessment and Posture Optimization in Human-Robot Interaction

Thomas Steinecker, Alexander Kurdas, Nico Mansfeld, Mazin Hamad, Robin Jeanne Kirschner, Saeed Abdolshah, Sami Haddadin

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

In physical human-robot interaction (pHRI), safety is a key requirement. As collisions between humans and robots can generally not be avoided, it must be ensured that the human is not harmed. The robot reflected mass, the contact geometry, and the relative velocity between human and robot are the parameters that have the most significant influence on human injury severity during a collision. The reflected mass depends on the robot configuration and can be optimized especially in kinematically redundant robots. In this paper, we propose the Mean Reflected Mass (MRM) metric. The MRM is independent of the direction of contact/motion and enables assessing and optimizing the robot posture w.r.t. safety. In contrast to existing metrics, it is physically interpretable, meaning that it can be related to biomechanical injury data for realistic and model-independent safety analysis. For the Franka Emika Panda, we demonstrate in simulation that an optimization of the robot's MRM reduces the mean collision force. Finally, the relevance of the MRM for real pHRI applications is confirmed through a collision experiment.

Original languageEnglish
Title of host publication2022 IEEE International Conference on Robotics and Automation, ICRA 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages11209-11215
Number of pages7
ISBN (Electronic)9781728196817
DOIs
StatePublished - 2022
Event39th IEEE International Conference on Robotics and Automation, ICRA 2022 - Philadelphia, United States
Duration: 23 May 202227 May 2022

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference39th IEEE International Conference on Robotics and Automation, ICRA 2022
Country/TerritoryUnited States
CityPhiladelphia
Period23/05/2227/05/22

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