A tool for the evaluation of human lower arm injury: approach, experimental validation and application to safe robotics

Autor: Sami Haddadin, Rico Belder, Tadej Bajd, Darko Koritnik, Borut Povse
Rok vydání: 2015
Předmět:
Robot dynamics
Interactive computer systems
0209 industrial biotechnology
Computer science
General Mathematics
media_common.quotation_subject
Dewey Decimal Classification::600 | Technik::620 | Ingenieurwissenschaften und Maschinenbau
Man-machine systems
02 engineering and technology
Inertia
law.invention
Consistency (database systems)
Industrial robot
Dewey Decimal Classification::000 | Allgemeines
Wissenschaft::000 | Informatik
Wissen
Systeme::004 | Informatik
020901 industrial engineering & automation
law
0202 electrical engineering
electronic engineering
information engineering
Mechanical lower arms
Manipulator dynamics
Human biomechanics
Simulation
Impact testing
Robotic systems
media_common
Man machine systems
Mechatronic systems
Impact experiment
Velocity boundary
business.industry
Robotics
Arm injury
Collision
Computer Science Applications
Manipulators
Experimental validations
Control and Systems Engineering
Robot
020201 artificial intelligence & image processing
Artificial intelligence
ddc:004
ddc:620
business
Robots
Control of robotic systems
Software
Zdroj: Robotica 34 (2015), Nr. 11
ISSN: 1469-8668
0263-5747
DOI: 10.1017/s0263574715000156
Popis: SUMMARYThis paper treats the systematic injury analysis of lower arm robot–human impacts. For this purpose, a passive mechanical lower arm (PMLA) was developed that mimics the human impact response and is suitable for systematic impact testing and prediction of mild contusions and lacerations. A mathematical model of the passive human lower arm is adopted to the control of the PMLA. Its biofidelity is verified by a number of comparative impact experiments with the PMLA and a human volunteer. The respective dynamic impact responses show very good consistency and support the fact that the developed device may serve as a human substitute in safety analysis for the described conditions. The collision tests were performed with two different robots: the DLR Lightweight Robot III (LWR-III) and the EPSON PS3L industrial robot. The data acquired in the PMLA impact experiments were used to encapsulate the results in a robot independent safety curve, taking into account robot's reflected inertia, velocity and impact geometry. Safety curves define the velocity boundaries on robot motions based on the instantaneous manipulator dynamics and possible human injury due to unforeseen impacts.
Databáze: OpenAIRE
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