Abstract
Over the last decade, safe physical Human-Robot Interaction (pHRI) has been made possible due to significant advances in mechatronics, control, and planning. One result of these developments were fully integrated safer lightweight robots that are equipped with sophisticated interaction control capabilities. These new robots have even opened up novel and unforeseen application domains, in which human and robot are sought to work and interact with each other. For this, safe physical interaction is prime. This chapter gives a brief overview on two of its central aspects: human safety from an injury and standards standpoint, and control for physical interaction with focus on interaction control and collision handling.
| Original language | English |
|---|---|
| Title of host publication | Formal Modeling and Verification of Cyber-Physical Systems |
| Subtitle of host publication | 1st International Summer School on Methods and Tools for the Design of Digital Systems, Bremen, Germany, September 2015 |
| Publisher | Springer Fachmedien |
| Pages | 249-271 |
| Number of pages | 23 |
| ISBN (Electronic) | 9783658099947 |
| ISBN (Print) | 9783658099930 |
| DOIs | |
| State | Published - 5 Jun 2015 |
| Externally published | Yes |
Keywords
- Collision handling
- Injury analysis
- Physical human-robot interaction
- Robot safety