Safety-Related Risks and Opportunities of Key Design-Aspects for Industrial Human-Robot Collaboration

Kaiser, Lukas; Schlotzhauer, Andreas; Brandstötter, Mathias

doi:10.1007/978-3-319-99582-3_11

Cited by 16 publications

(16 citation statements)

References 11 publications

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“…As many types of human-robot interactions, Kaiser et al describe scenarios of co-existence [28]: (1) Encapsulation, with physically fenced robot work areas, (2) co-existence, without fencing but separation of human and robot work areas, (3) cooperation, with shared work areas but without simultaneous operation in the shared area, and (4) collaboration, with shared work areas and simultaneous, potentially very close interaction inside the shared area.…”

Section: Illustrative Example: the Cobotmentioning

confidence: 99%

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Challenges in the Safety-Security Co-Assurance of Collaborative Industrial Robots

Gleirscher

Johnson

Karachristou

et al. 2021

The 21st Century Industrial Robot: When Tools Become Collaborators

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The coordinated assurance of interrelated critical properties, such as system safety and cyber-security, is one of the toughest challenges in critical systems engineering. In this chapter, we summarise approaches to the coordinated assurance of safety and security. Then, we highlight the state of the art and recent challenges in human-robot collaboration in manufacturing both from a safety and security perspective. We conclude with a list of procedural and technological issues to be tackled in the coordinated assurance of collaborative industrial robots.3 Throughout this chapter we refer to cobots as robots, including their software and operational infrastructure, specifically designed for human-robot collaboration, although we accept that traditional robots may be used in collaborative ways when augmented with sufficient control and sensory systems.

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Section: Illustrative Example: the Cobotmentioning

confidence: 99%

“…Accidents, their causes, and hazards in human-robot co-existence in manufacturing have been discussed in the literature since the mid 1970s (e.g. [54,27,2,28]). Notably, Nicolaisen [42] envisioned collaborative, potentially mobile, robots closely working together with humans in shared work areas in 1985.…”

Section: Analysing Safety Risks In Cobot Settingsmentioning

confidence: 99%

Challenges in the Safety-Security Co-Assurance of Collaborative Industrial Robots

Gleirscher

Johnson

Karachristou

et al. 2021

The 21st Century Industrial Robot: When Tools Become Collaborators

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“…Wearable technology is the communication interface between man and machine. Kasier et al [2] found the ergonomic design of the wearable technology significantly impacts the user and therefore the effectiveness of the human-robot collaboration.…”

Section: A Significance Of Wearable Technologymentioning

confidence: 99%

Wearable Sensor Tools for Efficient Human Robot Interaction

Workman¹,

Al-Yacoub²,

Hubbard³

2021

UK-RAS Conference for PhD and Early Career Researchers Proceedings

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Human-robot interaction (HRI) technology is growing rapidly, with many products being designed to operate outside the industry, such as in the home. However, controlling robots in a domestic setting is challenging due to high variations in such environments. Also, human behaviour varies, and the same individual might behave differently in similar situations. In this paper, the design of a wearable data acquisition system, comprised of wearable sensors and a control box that communicates wirelessly with sensors on the robot to improve safe human-robot collaboration on tasks, is revised. The literature review identifies factors that affect the robotic system's wearability and leads to the production of a Product Design Specification (PDS), against which the original and subsequent designs of the set-up are evaluated. Several iterations are assessed, and how limitations in the original design are overcome are explained with reference to the system's location, ergonomics, and wearability. The final prototype is then tested on human users using 'range of motion' and 'representative task' experiments to assess its improved wearability. The potential applications of the device in the domestic environment are explained and suggestions for the future scope of the research made.

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“…In collaborative operation, the operator and the IRS (called a cobot [12]) can occupy the collaborative workspace (i.e., a subset of the safeguarded workspace) simultaneously while the IRS is performing tasks [13]. Based on that, ISO 15066 recommends four safety modes, described and combined with work layouts in [8], [14]: safety-rated monitored stop (powered but no simultaneous activity of robot and operator in shared workspace), hand-guided operation (zero-gravity control, guided by an operator, no actuation without operator input), speed & separation monitoring (speed continuously adapted to distance of robot and operator), and power & force limiting (reduced impact on the human body, a robot's power and applied forces are limited).…”

Section: Introductionmentioning

confidence: 99%

“…• Does a selected controller correctly handle hazards when detected and return the system to a useful safe state? Contributions: We introduce a tool-supported method for the synthesis of discrete-event ASCs that meet safety requirements and optimise process performance for humanrobot cooperation (alternative use of shared workspace) and collaboration (simultaneous use of shared workspace, with close interaction) [8], [16]. We model the manufacturing process and its safety analysis as a Markov decision process (MDP) and select a correct-by-construction ASC from a set of MDP policies.…”

Section: Introductionmentioning

confidence: 99%

Safety Controller Synthesis for Collaborative Robots

Gleirscher

Călinescu

2020

2020 25th International Conference on Engineering of Complex Computer Systems (ICECCS)

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In human-robot collaboration (HRC), softwarebased automatic safety controllers (ASCs) are used in various forms (e.g. shutdown mechanisms, emergency brakes, interlocks) to improve operational safety. Complex robotic tasks and increasingly close human-robot interaction pose new challenges to ASC developers and certification authorities. Key among these challenges is the need to assure the correctness of ASCs under reasonably weak assumptions. To address this need, we introduce and evaluate a tool-supported ASC synthesis method for HRC in manufacturing. Our synthesis approach is informed by the manufacturing process, risk analysis, and regulations. A synthesised ASC is formally verified against correctness criteria and selected from a design space of feasible controllers according to a set of optimality criteria. Such an ASC can detect the occurrence of hazards, move the process into a safe state, and, in certain circumstances, return the process to an operational state from which it can resume its original task.

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Safety-Related Risks and Opportunities of Key Design-Aspects for Industrial Human-Robot Collaboration

Cited by 16 publications

References 11 publications

Challenges in the Safety-Security Co-Assurance of Collaborative Industrial Robots

Challenges in the Safety-Security Co-Assurance of Collaborative Industrial Robots

Wearable Sensor Tools for Efficient Human Robot Interaction

Safety Controller Synthesis for Collaborative Robots

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