Abstract: | |
This 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. Copyright © Cambridge University Press 2015
|
|
License of this version: | Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. Dieser Beitrag ist aufgrund einer (DFG-geförderten) Allianz- bzw. Nationallizenz frei zugänglich. |
Publication type: | Article |
Publishing status: | publishedVersion |
Publication date: | 2015 |
Keywords english: | Control of robotic systems, Human biomechanics, Man-machine systems, Mechatronic systems, Robot dynamics, Impact testing, Interactive computer systems, Man machine systems, Robotics, Robots, Experimental validations, Impact experiment, Manipulator dynamics, Mechanical lower arms, Mechatronic systems, Robot dynamics, Robotic systems, Velocity boundary, Manipulators |
DDC: | 620 | Ingenieurwissenschaften und Maschinenbau, 004 | Informatik |
Showing items related by title, author, creator and subject.