NDLI: Safety Analysis for a Human-Friendly Manipulator

Content Provider	Springer Nature Link
Author	Haddadin, Sami Albu Schäffer, Alin Hirzinger, Gerd
Copyright Year	2010
Abstract	The DLR Lightweight Robot III (LWR-III) developed at the German Aerospace Center (DLR) is characterized by low inertial properties, torque sensing in each joint, and a load to weight ratio similar to humans. These properties qualify it for applications requiring high mobility and direct interaction with human users or uncertain environments. An essential requirement for such a robot is that it must under no circumstances pose a threat to the human operator. To actually quantify the potential injury risk emanating from the manipulator, impact test were carried out using standard automobile crash-test facilities at the ADAC (German automobile club). Furthermore, we introduce our analysis for soft-tissue injury based on swine experiments with the LWR-III. This paper gives an overview about the variety of investigations necessary to provide a safety analysis of a human-friendly robot based on biomechanical injury results. We believe this paper can provide a guideline for the robotics community for future qualifications of other robots and thus serve as a key component to bring robots in our everyday life.
Starting Page	235
Ending Page	252
Page Count	18
File Format	PDF
ISSN	18754791
Journal	International Journal of Social Robotics
Volume Number	2
Issue Number	3
e-ISSN	18754805
Language	English
Publisher	Springer Netherlands
Publisher Date	2010-04-21
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Human-friendly robot Robot safety Physical Human-Robot Interaction Crash-testing Soft-tissue injury Collision detection Control Robotics Mechatronics
Content Type	Text
Resource Type	Article
Subject	Philosophy Control and Systems Engineering Social Psychology Electrical and Electronic Engineering Human-Computer Interaction

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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