The role of the robot mass and velocity in physical human-robot interaction - Part I: Non-constrained blunt impacts
The role of the robot mass and velocity in physical human-robot interaction - Part I: Non-constrained blunt impacts
复制标题
机器人质量和速度在人机交互中的作用 - 第一部分：无约束钝器碰撞
DOI：
10.1109/robot.2008.4543388
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
G. Hirzinger
中科院分区：
文献类型：
--
作者：
S. Haddadin;A. Albu;G. Hirzinger
机器人系统和人类在同一物理领域的理想共存，通过共享他们的工作空间并以物理方式实际合作，提出了确保用户安全的非常基本的问题。在本文中，我们将展示机器人的质量和速度的影响钝无约束碰撞与人。几个重量在15-2500公斤之间的机器人以不同的速度受到机械人头模型的冲击。这是用来衡量所谓脑损伤的标准，主要是对脑损伤的一种衡量。除了这一标准所指示的伤害和对胸部撞击的详细分析外，我们指出，例如，在典型机器人速度的碰撞中，面部骨骼可能发生骨折。因此，对这种在机器人中更可能出现的损伤机制进行了详细的评估。
The desired coexistence of robotic systems and humans in the same physical domain, by sharing their workspace and actually cooperating in a physical manner, poses the very fundamental problem of ensuring safety to the user. In this paper we will show the influence of robot mass and velocity during blunt unconstrained impacts with humans. Several robots with weights ranging from 15-2500 kg are impacted at different velocities with a mechanical human head mockup. This is used to measure the so-called head injury criterion, mainly a measure for brain injury. Apart from injuries indicated by this criterion and a detailed analysis of chest impacts we point out that e.g. fractures of facial bones can occur during collisions at typical robot velocities. Therefore, this injury mechanism which is more probable in robotics is evaluated in detail.