TY - GEN
T1 - The role of the robot mass and velocity in physical human-robot interaction - Part II
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
AU - Haddadin, Sami
AU - Albu-Schäffer, Alin
AU - Frommberger, Mirko
AU - Hirzinger, Gerd
PY - 2008
Y1 - 2008
N2 - Accidents occurring with classical industrial robots often lead to fatal injuries. Presumably, this is to a great extent caused by the possibility of clamping the human in the confined workspace of the robot. Before generally allowing physical cooperation of humans and robots in future applications it is therefore absolutely crucial to analyze this extremely dangerous situation. In this paper we will investigate many aspects relevant to this sort of injury mechanisms and discuss the importance to domestic environments or production assistants. Since clamped impacts are intrinsically more dangerous than free ones it is fundamental to discuss and evaluate metrics to ensure safe interaction if clamping is possible. We compare various robots with respect to their injury potential leading to a main safety requirement of robot design: Reduce the intrinsic injury potential of a robot by reducing its weight.
AB - Accidents occurring with classical industrial robots often lead to fatal injuries. Presumably, this is to a great extent caused by the possibility of clamping the human in the confined workspace of the robot. Before generally allowing physical cooperation of humans and robots in future applications it is therefore absolutely crucial to analyze this extremely dangerous situation. In this paper we will investigate many aspects relevant to this sort of injury mechanisms and discuss the importance to domestic environments or production assistants. Since clamped impacts are intrinsically more dangerous than free ones it is fundamental to discuss and evaluate metrics to ensure safe interaction if clamping is possible. We compare various robots with respect to their injury potential leading to a main safety requirement of robot design: Reduce the intrinsic injury potential of a robot by reducing its weight.
UR - http://www.scopus.com/inward/record.url?scp=51649098595&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543389
DO - 10.1109/ROBOT.2008.4543389
M3 - Conference contribution
AN - SCOPUS:51649098595
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1339
EP - 1345
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -