Double safety measure for human symbiotic manipulator

Toshio Morita, Shigeki Sugano

Research output: Contribution to conferencePaperpeer-review

5 Citations (Scopus)

Abstract

The design methodology for a human symbiotic manipulator which guarantee human safety and the ability for human-robot collaboration are described. The safety design parameters are classified into four categories: manipulator cover materials; motion controls; collision statements; and safety indices. Physical models of shock absorption covers, generalized conditions of human-robot collision, and severity indices for producing moderate injury are presented. Human-robot collisions are simulated through a combination of these parameters and the effects of each parameter on safety are arranged. By using the methodology, an actual safety cover is developed and attached to a seven degrees-of-freedom force controlled manipulator.

Original languageEnglish
Number of pages1
Publication statusPublished - 1997 Dec 1
Externally publishedYes
EventProceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn
Duration: 1997 Jun 161997 Jun 20

Other

OtherProceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97
CityTokyo, Jpn
Period97/6/1697/6/20

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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