Soft-tissue injury in robotics

Sami Haddadin; Alin Albu-Schäffer; Gerd Hirzinger

doi:10.1109/ROBOT.2010.5509854

Soft-tissue injury in robotics

Sami Haddadin, Alin Albu-Schäffer, Gerd Hirzinger

Deutsches Zentrum für Luft- und Raumfahrt (DLR)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

39 Scopus citations

Abstract

Up to now, mostly blunt human-robot impacts were investigated in the robotics literature. In this context, the influence of robot mass and velocity during rigid impacts with and without the possibility of the human being clamped was quantified. In this paper an analysis of soft-tissue injuries caused by sharp tools , which are mounted on/grasped by a robot is carried out as the next step down the road to a full safety analysis of robots for HRI. We conducted an analysis of soft-tissue injuries based on available biomechanical and forensic data and to our knowledge for the first time in robotics present various experimental results with biological tissue for validation. Furthermore, possible countermeasures are evaluated quantitatively based biomechanically relevant quantities.

Original language	English
Title of host publication	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages	3426-3433
Number of pages	8
DOIs	https://doi.org/10.1109/ROBOT.2010.5509854
State	Published - 2010
Externally published	Yes
Event	2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States Duration: 3 May 2010 → 7 May 2010

Publication series

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

Conference

Conference	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country/Territory	United States
City	Anchorage, AK
Period	3/05/10 → 7/05/10

Access to Document

10.1109/ROBOT.2010.5509854

Cite this

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title = "Soft-tissue injury in robotics",

abstract = "Up to now, mostly blunt human-robot impacts were investigated in the robotics literature. In this context, the influence of robot mass and velocity during rigid impacts with and without the possibility of the human being clamped was quantified. In this paper an analysis of soft-tissue injuries caused by sharp tools , which are mounted on/grasped by a robot is carried out as the next step down the road to a full safety analysis of robots for HRI. We conducted an analysis of soft-tissue injuries based on available biomechanical and forensic data and to our knowledge for the first time in robotics present various experimental results with biological tissue for validation. Furthermore, possible countermeasures are evaluated quantitatively based biomechanically relevant quantities.",

author = "Sami Haddadin and Alin Albu-Sch{\"a}ffer and Gerd Hirzinger",

year = "2010",

doi = "10.1109/ROBOT.2010.5509854",

language = "English",

isbn = "9781424450381",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "3426--3433",

booktitle = "2010 IEEE International Conference on Robotics and Automation, ICRA 2010",

note = "2010 IEEE International Conference on Robotics and Automation, ICRA 2010 ; Conference date: 03-05-2010 Through 07-05-2010",

}

Haddadin, S , Albu-Schäffer, A & Hirzinger, G 2010, Soft-tissue injury in robotics. in 2010 IEEE International Conference on Robotics and Automation, ICRA 2010., 5509854, Proceedings - IEEE International Conference on Robotics and Automation, pp. 3426-3433, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, United States, 3/05/10. https://doi.org/10.1109/ROBOT.2010.5509854

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AU - Albu-Schäffer, Alin

AU - Hirzinger, Gerd

PY - 2010

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N2 - Up to now, mostly blunt human-robot impacts were investigated in the robotics literature. In this context, the influence of robot mass and velocity during rigid impacts with and without the possibility of the human being clamped was quantified. In this paper an analysis of soft-tissue injuries caused by sharp tools , which are mounted on/grasped by a robot is carried out as the next step down the road to a full safety analysis of robots for HRI. We conducted an analysis of soft-tissue injuries based on available biomechanical and forensic data and to our knowledge for the first time in robotics present various experimental results with biological tissue for validation. Furthermore, possible countermeasures are evaluated quantitatively based biomechanically relevant quantities.

AB - Up to now, mostly blunt human-robot impacts were investigated in the robotics literature. In this context, the influence of robot mass and velocity during rigid impacts with and without the possibility of the human being clamped was quantified. In this paper an analysis of soft-tissue injuries caused by sharp tools , which are mounted on/grasped by a robot is carried out as the next step down the road to a full safety analysis of robots for HRI. We conducted an analysis of soft-tissue injuries based on available biomechanical and forensic data and to our knowledge for the first time in robotics present various experimental results with biological tissue for validation. Furthermore, possible countermeasures are evaluated quantitatively based biomechanically relevant quantities.

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T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010

Y2 - 3 May 2010 through 7 May 2010

ER -

Soft-tissue injury in robotics

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