Head injury criterion

Gao, Dehua; Wampler, Charles W.

doi:10.1109/mra.2009.934824

Cited by 66 publications

(26 citation statements)

References 12 publications

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“…The HIC represents a measure for acceleration of the human head during a collision. It " [...] has been validated as a predictor for skull fracture and brain injury of certain severities" (Gao and Wampler, 2009). Based on the HIC, there are various investigations of collisions considering a multitude of different configurations.…”

Section: Determining the Injury Potential Of Collisionsmentioning

confidence: 99%

Safety of Autonomous Cognitive-oriented Robots

Ertle¹

2015

Künstl Intell

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Service robots shall very soon autonomously provide services in all spheres of life. They have to execute demanding and complex tasks in a dynamic environment, collaborate with human users in a natural and intuitive way and adapt themselves to varying conditions. It can be assumed that complex robots have to be able to learn, if they shall be able to provide complex tasks in unstructured environments in an autonomous fashion. The capability to 'act autonomously' is often mentioned in conjunction with robots, however, the perception and understanding of the term autonomy varies among the different research fields. Therefore, a closer look is taken at robot autonomy and intelligence, in particular, with regard to current and future robots. From this perspective, implications for safety are derived concerning safe autonomous behavior.In order to push forward the robot safety in the light of safe behavior in complex environments, a novel classification of robot hazards is provided. Based on this, the so-called object interaction hazards are derived which arise when objects that are, for instance, located in the near environment, interact with objects that are manipulated by a robot. Taking into account the current state-of-the-art, it can be stated that this denotes a novel problem area. This problem area is so far addressed neither in current research work, nor in the relevant standards.The new type of hazards can be assigned to a group of hazards that originate from the interaction with a complex and unstructured environment. In order to sufficiently consider the environment and operation context, the robot has to be aware of it. In the field of cognitive (technical and biological) systems, this key capability can be called 'situation awareness ' (cf. Söffker, 2008). Based on Endsley (1995)'s definition of situation awareness, Wardziński (2008) proposes the 'dynamic risk assessment' approach, which shall enable the robot perceive the risk of current and upcoming situations. In order to realize such a risk-aware planning system for the first time, dynamic risk assessment is integrated within a cognitive architecture in order to utilize cognitive functions, such as anticipation, planning and learning. Here, the so-called action spaces (sets of possible upcoming situations) are dynamically anticipated within the underlying cognitive architecture, and a risk assessment component assesses them with regard to comprised risks. Thus, the generated risk information can be utilized for a risk-aware action planning. The proper operation of this integrating concept is demonstrated via simulations and with a robot experiment.In order to consider (object interaction) hazards by means of dynamic risk assessment, (initial) knowledge about hazards is required. Thus, a novel procedural model is developed for systematically generating a safety knowledge base. In this connection, the concept is to formalize risk models (risk description rules) in a generalized manner so that they remain valid for future, and so far unknown si...

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Section: Determining the Injury Potential Of Collisionsmentioning

confidence: 99%

Safety of Autonomous Cognitive-oriented Robots

Ertle¹

2015

Künstl Intell

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“…The metric is derived from human biomechanics data given in the Wayne State Tolerance Curve [38] and is used in biomechanics studies and accident researches in different fields such as the automotive industry. It is a measure of the head acceleration for an impact that lasts for a certain duration and is given mathematically as [39],…”

Section: A Acceleration Basedmentioning

confidence: 99%

“…where a(τ ) is the head acceleration normalized with respect to gravity g and ∆t is measurement duration which is often taken as 15ms to investigate head concussion injuries [39]. HIC has been used in robotics as a severity indicator for potential injury due to blunt impacts to a human head.…”

Section: A Acceleration Basedmentioning

confidence: 99%

The Safety of Domestic Robotics: A Survey of Various Safety-Related Publications

Tadele

Vries

Stramigioli

2014

IEEE Robot. Automat. Mag.

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Abstract-Different branches of technology are striving to come up with new advancements that will enhance civilization and ultimately improve the way of life. In the robotics community, a stride has been made to bring the use of personal robots in office and home environments on the horizon. Safety is one of the critical issues that must be guaranteed for successful acceptance, deployment and utilization of domestic robots. Unlike the barrier based operational safety guarantee that is widely used in industrial robotics, safety in domestic robotics deals with a number of issues such as intrinsic safety, collision avoidance, human detection and advanced control techniques. In the last decade, a number of researchers have presented their works that highlighted the issue of safety in a specific part of the complete domestic robotics system. This paper presents a general survey of various safety related publications that focus on safety criteria & metrics, mechanical design & actuation and controller design.

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“…As the redundancy of a system provides multiple configurations that are admissible for a given task, it is desired that a redundant robot generates different motions for different external constraints based 49 to provide valid results on the ground reaction forces for bipedal human motions such as walking, pulling, and throwing. Although the majority of the constrained robot dynamics are applied to the bipedal or multi-legged locomotion [41][42][43][44], several groups investigated robotic manipulation under constraints, such as turning and pushing [45], closed-loop manipulation [46,47], and head-robot impact dynamics based on a simple mass-spring-mass model [48].…”

Section: Introductionmentioning

confidence: 99%

Concurrent motion planning and reaction load distribution for redundant dynamic systems under external holonomic constraints

Kim

Abdel‐Malek

Xiang

et al. 2011

Numerical Meth Engineering

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SUMMARYDynamics of mechanical systems during motion usually involves reaction forces and moments due to the interaction with external objects or constraints from the environment. The problems of determining the external reaction loads have often been addressed in the literature in terms of forward dynamics solution methods for non-redundant systems. In this article, we propose a numerical formulation of distributing the external reaction loads of redundant systems concurrently with optimal motion planning and simulation. For dynamic equilibrium, the resultant reaction loads that include the effects of inertia, gravity, and general applied loads are distributed to each contact point. Unknown reactions are determined along with the system configuration at each time step using iterative non-linear optimization algorithm. The required actuator torques as well as the motion trajectories are obtained while satisfying the given holonomic constraints. The formulation is applied with two types of discretization methods for the reactions, and several example motions of multi-rigid-body systems, such as a simple 3-degree-of-freedom mechanical manipulator and a highly articulated whole-body human mechanism, are demonstrated. The example results are compared with the cases where the reactions are pre-assigned. The proposed numerical formulation demonstrates the realistic distribution of external reaction loads and the associated goal-oriented motions that are dynamically consistent, and provides alternate schemes for hybrid motion/force control of redundant robots.

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Head injury criterion

Cited by 66 publications

References 12 publications

Safety of Autonomous Cognitive-oriented Robots

Safety of Autonomous Cognitive-oriented Robots

The Safety of Domestic Robotics: A Survey of Various Safety-Related Publications

Concurrent motion planning and reaction load distribution for redundant dynamic systems under external holonomic constraints

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