TY - GEN
T1 - The role of the robot mass and velocity in physical human-robot interaction - Part I
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
AU - Haddadin, Sami
AU - Albu-Schäffer, Alin
AU - Hirzinger, Gerd
PY - 2008
Y1 - 2008
N2 - The desired coexistence of robotic systems and humans in the same physical domain, by sharing their workspace and actually cooperating in a physical manner, poses the very fundamental problem of ensuring safety to the user. In this paper we will show the influence of robot mass and velocity during blunt unconstrained impacts with humans. Several robots with weights ranging from 15-2500 kg are impacted at different velocities with a mechanical human head mockup. This is used to measure the so-called Head Injury Criterion, mainly a measure for brain injury. Apart from injuries indicated by this criterion and a detailed analysis of chest impacts we point out that e.g. fractures of facial bones can occur during collisions at typical robot velocities. Therefore, this injury mechanism which is more probable in robotics is evaluated in detail.
AB - The desired coexistence of robotic systems and humans in the same physical domain, by sharing their workspace and actually cooperating in a physical manner, poses the very fundamental problem of ensuring safety to the user. In this paper we will show the influence of robot mass and velocity during blunt unconstrained impacts with humans. Several robots with weights ranging from 15-2500 kg are impacted at different velocities with a mechanical human head mockup. This is used to measure the so-called Head Injury Criterion, mainly a measure for brain injury. Apart from injuries indicated by this criterion and a detailed analysis of chest impacts we point out that e.g. fractures of facial bones can occur during collisions at typical robot velocities. Therefore, this injury mechanism which is more probable in robotics is evaluated in detail.
UR - http://www.scopus.com/inward/record.url?scp=51649124349&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543388
DO - 10.1109/ROBOT.2008.4543388
M3 - Conference contribution
AN - SCOPUS:51649124349
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1331
EP - 1338
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -