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This chapter presented the study of a safety strategy for human-care robots. Case study of assessing several human-care robots was carried out according to ISO/TR 12100-1:1992 and ISO 14121:1999. The problems of assessing these robots were discussed, a safety strategy for human-care robots has been proposed. Determine limits of special factors, judgments by certification system, benefit of robots for user have been added to the strategy. I undertook a new study of safety in the coexistent space of human and machine in order to realize a human-care robot for the nursing of the aged or disabled. First, the human injury from robot and machine was investigated thoroughly, and I found that it was important to treat safety strategies in the light of mechanical injury. I grouped them as safety design and control strategy according to the difference in their contents. In order to take every safety strategy into consideration, impact force and stress were chosen as evaluation measures for quantifying risk. I proposed risk evaluation method and defined danger-index, improvement rate, and total evaluation index. Discussions of some general safety strategies proved the viability of my risk evaluation method. Safety-optimizing method for human-care robot design and control was studied theoretically. A method of optimizing the safety design was proposed, and practical examples of optimizing the cost distribution were solved. I proposed a method of optimizing robot control and optimized the whole motion of a multi-link manipulator by minimizing the total amount of danger index while considering the tolerant danger index. I will contribute my risk evaluation method to the overall safety performance of human-care robots. |
