Safe physical human robot interaction-past, present and future

Pervez, Aslam; Ryu, Jeha

doi:10.1007/s12206-007-1109-3

Cited by 117 publications

(57 citation statements)

References 87 publications

(119 reference statements)

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“…The safe interaction between humans and robots has been studied extensively since the early days of robotics [8], [10], [11], [15], [16]. Existing methods can be broadly classified into post-collision and pre-collision approaches [8].…”

Section: Related Workmentioning

confidence: 99%

Sensor fusion for human safety in industrial workcells

Rybski

Anderson-Sprecher

Huber

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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(a) (b) (c) Abstract-Current manufacturing practices require complete physical separation between people and active industrial robots. These precautions ensure safety, but are inefficient in terms of time and resources, and place limits on the types of tasks that can be performed. In this paper, we present a real-time, sensor-based approach for ensuring the safety of people in close proximity to robots in an industrial workcell. Our approach fuses data from multiple 3D imaging sensors of different modalities into a volumetric evidence grid and segments the volume into regions corresponding to background, robots, and people. Surrounding each robot is a danger zone that dynamically updates according to the robot's position and trajectory. Similarly, surrounding each person is a dynamically updated safety zone. A collision between danger and safety zones indicates an impending actual collision, and the affected robot is stopped until the problem is resolved. We demonstrate and experimentally evaluate the concept in a prototype industrial workcell augmented with stereo and range cameras.

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Section: Related Workmentioning

confidence: 99%

Sensor fusion for human safety in industrial workcells

Rybski

Anderson-Sprecher

Huber

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Alternatively, it can be shared (Corbalan et al, 2008) while the final decision is still taken either by the system or the user. In the latter case, informative input is provided by the second party through user mediation (Das and Roy, 2008;Dey and Mankoff, 2005;Mankoff et al, 2000;Roy et al, 2009) (i.e., user feedback to machine) or adaptive user guidance/advisement (Bell and Kozlowski, 2002;Pervez and Ryu, 2008) (i.e., machine feedback to user). Considering adaptive advisement, we argue that adaptive application behaviours do not necessarily need to result in 'musts' or 'have-tos', but can also result in 'shoulds' and 'mights', leaving some control to the user while providing possible directions and the reasoning behind those directions (i.e., intelligibility through self-expressiveness and user situation awareness).…”

Section: Albert Einsteinmentioning

confidence: 99%

Formal modelling, knowledge representation and reasoning for design and development of user-centric pervasive software: a meta-review

Soylu

Causmaecker

Preuveneers

et al. 2011

IJMSO

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Abstract:Increasing demand for large scale and highly complex systems and applications, particularly with the emergence of pervasive computing and the impact of adaptive systems, introduces significant challenges for software development, as well as for user-machine interaction. Therefore, a perspective shift on software development and user-machine interaction is required. An amalgamation of model driven development and ontologies has been envisaged as a promising direction in recent literature. In this paper, we investigate this merged approach and conclude that a merger of both approaches, from formal modelling and knowledge representation perspective, on the one hand enables use of ontologies at run-time together with rules, prominently in terms of run-time reasoning, dynamic adaptations, software intelligibility, self-expressiveness, user involvement, and user situation awareness; and on the other hand at development time, prominently in terms of automated and incremental code generation, requirement adaptability, preservation of application knowledge, and validation and verification of structural and behavioural properties of the software. The core contribution of this paper lies in providing an elaborate and exploratory discussion of the problem and solution spaces along with a multidisciplinary meta-review and identification of complementary efforts in literature required to realise a merged approach.

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“…In applications that involve close contact or cooperation between humans and robots, this principle of "safety by segregation" is no longer useful [7,39]. It is clear, however, that without concrete safety guarantees robots cannot be allowed to work in close proximity to humans.…”

Section: Robot Safetymentioning

confidence: 99%

The Safety of a Robot Actuated by Pneumatic Muscles—A Case Study

Damme

Beyl

Vanderborght

et al. 2010

Int J of Soc Robotics

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In situations where robots share their workspace with humans, and where physical human-robot interaction is possible or even necessary, safety is of paramount importance. This paper presents a study of the safety of a lightweight robot actuated by pneumatic muscles. Due to its low weight, it has excellent hardware safety characteristics. In spite of this, it is shown that the system can be unsafe when under PID control. It is also shown that safety can be greatly increased by using Proxy-Based Sliding Mode Control (PSMC). The role of passive compliance in safety is also investigated. It is argued that passive compliance can have positive as well as negative effects on robot safety, depending on the situation.

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Safe physical human robot interaction-past, present and future

Cited by 117 publications

References 87 publications

Sensor fusion for human safety in industrial workcells

Sensor fusion for human safety in industrial workcells

Formal modelling, knowledge representation and reasoning for design and development of user-centric pervasive software: a meta-review

The Safety of a Robot Actuated by Pneumatic Muscles—A Case Study

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