Safety evaluation method of design and control for human-care robots
Safety evaluation method of design and control for human-care robots
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DOI：
10.1177/0278364903022005001
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发表时间：
2003-05-01
影响因子：
9.2
通讯作者：
Nokata, M
中科院分区：
文献类型：
--
作者：
Ikuta, K;Ishii, H;Nokata, M
我们提出了世界上第一个评估人类护理机器人安全性的通用方法。在机器人与人发生不小心碰撞的情况下，以碰撞力和碰撞应力为评价指标，定义了一个模糊指数，定量评价了用于设计和控制的各种安全策略的有效性。因此，该方法允许我们评估每个安全策略对人类护理机器人的整体安全性能的贡献。此外，在PC机上构建了一种新型的三维机器人危险性评估仿真系统。该系统简化了各种类型的人类护理机器人的设计和控制的危险评估，以量化各种安全策略的有效性。
We propose the world's first general method of evaluating safety for human-care robots. In the case of a careless collision between a robot and a human, impact force and impact stress are chosen as evaluation measures, and a danger-index is defined to quantitatively evaluate the effectiveness of each safety strategy used for design and control. As a result, this proposed method allows us to assess the contribution of each safety strategy to the overall safety performance of a human-care robot. In addition, a new type of three-dimensional robot simulation system for danger evaluation is constructed on a PC. The system simplifies the danger evaluation of both the design and control of various types of human-care robots to quantify the effectiveness of various safety strategies.