Safe Link Mechanism based on Passive Compliance for Safe Human-Robot Collision

Park, Jung-Jun; Kim, Byeong-Sang; Song, Jae-Bok; Kim, Hong-Seok

doi:10.1109/robot.2007.363140

Cited by 34 publications

(16 citation statements)

References 5 publications

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“…It is a passive redundant element which does not affect the conventional actuation strategy (see Figure 2.1c). If the force limit is exceeded, the link becomes compliant (Park et al, 2007).…”

Section: Force Limitationmentioning

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: Force Limitationmentioning

confidence: 99%

Safety of Autonomous Cognitive-oriented Robots

Ertle¹

2015

Künstl Intell

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“…Force limiters were developed which enable an axial disengagement of the spindle [12] or the feed axis [13]. In the field of robotics collision prevention solutions acting mostly pneumatically or mechanically have been developed to enable close cooperation between humans and robots [14,15]. Newer approaches pursue the strategy of combining mechanical and sensory protective measures [16].…”

Section: Overview Of the Existing Protective Measures Against Collisionsmentioning

confidence: 99%

Avoidance of collision-caused spindle damages—Challenges, methods and solutions for high dynamic machine tools

Abele

Korff

2011

CIRP Annals

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“…Choi, et al [8] proposed a continuum mechanism applied to the design of soft endoscope. Park, et al [9,10] proposed compliant arms that have variable compliance at the robot joint or link. Khatib, et al [11] proposed a dualactuator based feedback control algorithm to realize the soft arm.…”

Section: Introduction1 )mentioning

confidence: 99%

Implementation of a Spring Backboned Soft Arm Emulating Human Gestures

Yoon¹,

Choi²,

Oh³

et al. 2012

The Journal of Korea Robotics Society

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This study deals with the design of a spring backboned soft arm, which will be employed for generation of human gesture as an effective means of Human-Robot interaction. The special features of the proposed mechanism are the light weight and the flexibility of the whole mechanism by using a spring backbone. Thus, even in the case of collision with human, this device is able to absorb the impact structurally. The kinematics and the design for the soft arm are introduced. The performance of this mechanism was shown through experiment emulating several human gestures expressing human emotion and some service contents. Finally, this soft arm was implemented as the wing mechanism of a penguin robot.

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Safe Link Mechanism based on Passive Compliance for Safe Human-Robot Collision

Cited by 34 publications

References 5 publications

Safety of Autonomous Cognitive-oriented Robots

Safety of Autonomous Cognitive-oriented Robots

Avoidance of collision-caused spindle damages—Challenges, methods and solutions for high dynamic machine tools

Implementation of a Spring Backboned Soft Arm Emulating Human Gestures

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