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Collision Detection and Reaction: A Contribution to Safe Physical Human-Robot Interaction
Open accessAbstract
In the framework of physical Human-Robot Interaction (pHRI), methodologies and experimental tests are presented for the problem of detecting and reacting to collisions between a robot manipulator and a human being. Using a lightweight robot that was especially designed for interactive and cooperative tasks, we show how reactive control strategies can significantly contribute to ensuring safety to the human during physical interaction. Several collision tests were carried out, illustrating the feasibility and effectiveness of the proposed approach. While a subjective “safety” feeling is experienced by users when being able to naturally stop the robot in autonomous motion, a quantitative analysis of different reaction strategies was lacking. In order to compare these strategies on an objective basis, a mechanical verification platform has been built. The proposed collision detection and reactions methods prove to work very reliably and are effective in reducing contact forces far below any level which is dangerous to humans. Evaluations of impacts between robot and human arm or chest up to a maximum robot velocity of 2.7 m/s are presented.
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Cited by
The DLR lightweight robot: design and control concepts for robots in human environments
Albu‐Schäffer, A., Haddadin, S., Ott, C., Stemmer, A., Wimböck, T., & Hirzinger, G. (2007) · Industrial Robot: An International Journal · doi:10.1108/01439910710774386 · Cited by 623
Self-citationWorking Together: A Review on Safe Human-Robot Collaboration in Industrial Environments
Robla-Gomez, S., Becerra, V. M., Llata, J. R., Gonzalez-Sarabia, E., Torre-Ferrero, C., & Perez-Oria, J. (2017) · IEEE Access · doi:10.1109/access.2017.2773127 · Cited by 589
Hentout, A., Aouache, M., Maoudj, A., & Akli, I. (2019) · Advanced Robotics · doi:10.1080/01691864.2019.1636714 · Cited by 462
Requirements for Safe Robots: Measurements, Analysis and New Insights
Haddadin, S., Albu-Schäffer, A., & Hirzinger, G. (2009) · The International Journal of Robotics Research · doi:10.1177/0278364909343970 · Cited by 444
Self-citationKonok, V., Korcsok, B., Miklósi, Á., & Gácsi, M. (2018) · Computers in Human Behavior · doi:10.1016/j.chb.2017.11.002 · Cited by 88
Metadata
- Authors
- Haddadin, S., Albu-Schaffer, A., De Luca, A., & Hirzinger, G.
- Venue
- 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2008-09
- Pages
- 3356-3363
- OpenAlex
- W2154777391
- Cited by
- 562
- References
- 0
- FWCI
- 35.24
- Type
- conference paper
- Language
- en
- Open access
- green
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- Haddadin, S., Albu-Schaffer, A., De Luca, A., & Hirzinger, G. (2008). Collision Detection and Reaction: A Contribution to Safe Physical Human-Robot Interaction. 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems. https://doi.org/10.1109/iros.2008.4650764
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