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Building a safe care-providing robot.

Leila Fotoohi¹, Axel Gräser

¹Automation Institute, University of Bremen, Bremen,Germany. fotoohi@iat.uni-bremen.de

IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]

|January 26, 2012

Summary

Designing safe care-providing robots requires new approaches. This study introduces a safety framework for the FRIEND robot, using the Ramadge-Wonham (RW) framework to formally verify safety requirements and model human-robot interaction (HRI).

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Area of Science:

Robotics
Human-Robot Interaction
Safety Engineering

Background:

Service robots, particularly care-providing robots, operate in close proximity to humans, necessitating advanced safety measures beyond traditional industrial robotics.
Existing safety protocols are insufficient for robots interacting directly with people, posing unique challenges for design and operation.

Purpose of the Study:

To present a novel safety approach for designing the care-providing robot FRIEND.
To iteratively identify and assess potential hazards throughout the robot's design process.
To formally verify safety requirements using the Ramadge-Wonham (RW) framework.

Main Methods:

An iterative design approach was employed to identify and assess hazards at each stage.
The Ramadge-Wonham (RW) framework was utilized for formal, systematic, and modular verification of safety requirements.

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Human-robot interaction (HRI) was modeled as uncontrolled events, and safety requirements were adapted accordingly.

Main Results:

The proposed safety approach enables systematic hazard identification and risk assessment.
Formal verification using the RW framework ensures the robustness and reliability of safety requirements.
The safety module acts as a parallel controller, ensuring admissible event sequences and maintaining system safety.

Conclusions:

The developed safety approach, incorporating the RW framework and HRI modeling, provides a robust method for designing safe care-providing robots.
Formal verification is crucial for managing the complexity of safety requirements in advanced robotic systems.
The safety module effectively ensures that the robot operates within defined safety parameters during human interaction.