Critical contact pressure and transferred energy for soft tissue injury by blunt impact in human-robot interaction
Critical contact pressure and transferred energy for soft tissue injury by blunt impact in human-robot interaction
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人机交互中钝器碰撞导致软组织损伤的临界接触压力和传递能量
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
T. Nishimoto
中科院分区：
文献类型：
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作者：
T. Fujikawa;R. Sugiura;R. Nishikata;T. Nishimoto
为了获得人机交互中机器人设计的安全准则，讨论了峰值平均接触压力和总传递能量作为钝头碰撞损伤容限的主要参数。经伦理委员会许可，使用生猪进行冲击试验。一个25毫米直径的圆柱形冲击器被用来代表机器人的移动部件。将软组织样品染色，并通过显微镜检查研究毛细血管损伤。结果表明，当峰值平均接触压力小于1.3 MPa，总传递能量小于87 kJ/m2时，无毛细损伤。作为这些参数的函数的损伤的概率使用实验结果的逻辑回归获得。
The peak mean contact pressure and the total transferred energy are discussed as the dominant parameters of bruise tolerance by blunt impact in order to obtain safety criteria for robot design in human-robot interaction. Impact tests are conducted using live pigs with the permission of the ethical committee. A 25 mm-diameter cylindrical impactor is used to represent moving parts of robots. Samples of soft tissue are stained, and capillary damages are investigated by microscopy. The results show that there is no capillary damage if the peak mean contact pressure is less than 1.3 MPa and the total transferred energy is less than 87 kJ/m2. The probability of injury as a function of these parameters is obtained using logistic regression of the the experiment results.