The DOI matches its Crossref record; 19 of the 19 references it cites were found in a registry or an index.
Requirements for Safe Robots: Measurements, Analysis and New Insights
Open accessAbstract
Physical human—robot interaction and cooperation has become a topic of increasing importance and of major focus in robotics research. An essential requirement of a robot designed for high mobility and direct interaction with human users or uncertain environments is that it must in no case pose a threat to the human. Until recently, quite a few attempts were made to investigate real-world threats via collision tests and use the outcome to considerably improve safety during physical human—robot interaction. In this paper, we give an overview of our systematic evaluation of safety in human—robot interaction, covering various aspects of the most significant injury mechanisms. In order to quantify the potential injury risk emanating from such a manipulator, impact tests with the DLR-Lightweight Robot III were carried out using standard automobile crash test facilities at the German Automobile Club (ADAC). Based on these tests, several industrial robots of different weight have been evaluated and the influence of the robot mass and velocity have been investigated. The evaluated non-constrained impacts would only partially capture the nature of human—robot safety. A possibly constrained environment and its effect on the resulting human injuries are discussed and evaluated from different perspectives. As well as such impact tests and simulations, we have analyzed the problem of the quasi-static constrained impact, which could pose a serious threat to the human even for low-inertia robots under certain circumstances. Finally, possible injuries relevant in robotics are summarized and systematically classified.
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Cites
Croat, T. B., & Kinslow, P. (2007) · Cited by 1,111
Albu-Schäffer, A., Ott, C., & Hirzinger, G. (2007) · The International Journal of Robotics Research · doi:10.1177/0278364907073776 · Cited by 815
Self-citationCollision Detection and Safe Reaction with the DLR-III Lightweight Manipulator Arm
De Luca, A., Albu-Schaffer, A., Haddadin, S., & Hirzinger, G. (2006) · 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2006.282053 · Cited by 779
Self-citationBicchi, A., & Tonietti, G. (2004) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2004.1310939 · Cited by 654
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-citationA Review of the Severity Index
Versace, J. (1971) · SAE Technical Paper Series · doi:10.4271/710881 · Cited by 587
Collision Detection and Reaction: A Contribution to Safe Physical Human-Robot Interaction
Haddadin, S., Albu-Schaffer, A., De Luca, A., & Hirzinger, G. (2008) · 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2008.4650764 · Cited by 562
Self-citationA New Actuation Approach for Human Friendly Robot Design
Zinn, M., Roth, B., Khatib, O., & Salisbury, J. K. (2004) · The International Journal of Robotics Research · doi:10.1177/0278364904042193 · Cited by 441
Safety Evaluation Method of Design and Control for Human-Care Robots
Ikuta, K., Ishii, H., & Nokata, M. (2003) · The International Journal of Robotics Research · doi:10.1177/027836403128965079 · Cited by 239
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Reach and grasp by people with tetraplegia using a neurally controlled robotic arm
Hochberg, L. R., Bacher, D., Jarosiewicz, B., Masse, N. Y., Simeral, J. D., Vogel, J., Haddadin, S., Liu, J., Cash, S. S., van der Smagt, P., et al. (2012) · Nature · doi:10.1038/nature11076 · Cited by 2,719
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
Human-robot collaborative manipulation planning using early prediction of human motion
Mainprice, J., & Berenson, D. (2013) · 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2013.6696368 · Cited by 301
Dentronics: Towards robotics and artificial intelligence in dentistry
Grischke, J., Johannsmeier, L., Eich, L., Griga, L., & Haddadin, S. (2020) · Dental Materials · doi:10.1016/j.dental.2020.03.021 · Cited by 221
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Metadata
- Authors
- Haddadin, S., Albu-Schäffer, A., & Hirzinger, G.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2009-08-20
- Volume
- 28
- Issue
- 11-12
- Pages
- 1507-1527
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2116139612
- Cited by
- 444
- References
- 19
- FWCI
- 35.11
- Type
- journal article
- Language
- en
- Open access
- green
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