Quantitative Safety Guarantees for Physical Human-Robot Interaction

  title={Quantitative Safety Guarantees for Physical Human-Robot Interaction},
  author={Jochen Heinzmann and Alexander Zelinsky},
  journal={The International Journal of Robotics Research},
  pages={479 - 504}
If robots are to be introduced into the human world as assistants to aid a person in the completion of a manual task two key problems of today's robots must be solved. The human-robot interface must be intuitive to use and the safety of the user with respect to injuries inflicted by collisions with the robot must be guaranteed. In this paper we describe the formulation and implementation of a control strategy for robot manipulators which provides quantitative safety guarantees for the user of… 


The most revolutionary and challenging feature of the next generation of robots will be physical Human– Robot Interaction (pHRI), where safety and dependability are the keys, also for paving the way

Human-robot physical interaction and collaboration using an industrial robot with a closed control architecture

An end-user approach to collision detection and reaction is presented for an industrial manipulator having a closed control architecture and no additional sensors.

A Novel Hybrid Safety-Control Strategy for a Manipulator

An optimal motion trajectory-planning method is adopted, by use of which the jerk, acceleration and velocity of the robot's motion can be limited and a time-optimalMotion can be obtained as a post-contact safety strategy for a position-controlled manipulator.

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An integrated human−robot interaction strategy that ensures the safety of the human participant through a coordinated suite of safety strategies that are selected and implemented to anticipate and respond to varying time horizons for potential hazards and varying expected levels of interaction with the user is presented.

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Based on physically meaningful energy related safety indicators, safety criteria are introduced as constraints in the control algorithm to limit the amount of dissipated energy within the human-robot system during physical contact.

Requirements for Safe Robots: Measurements, Analysis and New Insights

An overview of the systematic evaluation of safety in human—robot interaction, covering various aspects of the most significant injury mechanisms is given, including the problem of the quasi-static constrained impact, which could pose a serious threat to the human even for low-inertia robots under certain circumstances.

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The presentation introduced by this extended abstract is based on recent work on modelling and control of robots for applications where the presence of humans in the robot's workspace is explicitly considered, and different approaches to safety are addressed.

de Requirements for Safe Robots : Measurements , Analysis and New Insights

An overview of the systematic evaluation of safety in human–robot interaction, covering various aspects of the most significant injury mechanisms is given, including the problem of the quasi-static constrained impact, which could pose a serious threat to the human even for low-inertia robots under certain circumstances.

Adaptive Admittance Control for Safety-Critical Physical Human Robot Collaboration

— Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle safety-critical



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Collision-tolerant control of human-friendly robot with viscoelastic trunk

A human-friendly robot (HFR) is described to realize human safety, and a collision-tolerant control method is also proposed to achieve task performance. The HFR consists of an arm covered with

Collision force suppression by human friendly robots with passively movable base

  • Hun-ok LimK. YokoiA. TakanishiK. Tanie
  • Engineering
    Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)
  • 1999
Results of collision experiments show that the compliant trunk and movable base are effective mechanisms of suppressing collision forces, and the control algorithm is an effective method of positioning the end-effector.

Safety oriented mechanism and control using ER fluid in the joint

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A general mathematical framework is established to prove that the closed-loop robotic system, with a discontin uous control applied, is asymptotically stable.

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Real-time collision avoidance in teleoperated whole-sensitive robot arm manipulators

The problem of generating collision-free motion in an operator-assisted teleoperated robot arm manipulator system is discussed and the suggested methodology draws on recent work on motion planning with incomplete information for whole-sensitive robots.

Robotics in Service

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Motion planning for robot arm manipulators with proximity sensing

  • E. CheungV. Lumelsky
  • Computer Science
    Proceedings. 1988 IEEE International Conference on Robotics and Automation
  • 1988
The hardware and the lower-level control algorithms of a system for robot motion planning in an uncertain environment are described and results of experiments with the system are summarized.

Design and control of mobile manipulation system for human symbiotic humanoid: Hadaly-2

  • T. MoritaK. ShibuyaS. Sugano
  • Engineering
    Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)
  • 1998
From the results of evaluation experiments, it is confirmed that the Hadaly-2 can realize efficient interaction and collaboration with human.