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A Statistical Model to Determine Biomechanical Limits for Physically Safe Interactions With Collaborative Robots.

R Behrens1, G Pliske2, M Umbreit3

  • 1Robotic Systems, Fraunhofer IFF, Magdeburg, Germany.

Frontiers in Robotics and AI
|February 21, 2022
PubMed
Summary
This summary is machine-generated.

This study provides new, verified biomechanical limits for human-robot interactions, crucial for collaborative robot (cobot) safety. The findings account for gender differences in pain thresholds, enhancing safety standards for power and force limiting (PFL).

Keywords:
biomechanical limitscollisionimpactonset of painphysical human-robot interactionpinchingsafety

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Area of Science:

  • Robotics
  • Human-Robot Interaction
  • Biomechanics
  • Occupational Safety

Background:

  • Collaborative robots (cobots) offer ergonomic and efficiency benefits for manual workstations.
  • Current safety standards (ISO/TS 15066) for power and force limiting (PFL) rely on preliminary data.
  • Verified biomechanical limits are needed for safe human-cobot interactions, especially concerning impacts and pinching.

Purpose of the Study:

  • To experimentally determine new, verified biomechanical limits for human-cobot interactions.
  • To establish safe limits for impact and pinching forces from blunt and semi-sharp surfaces.
  • To investigate and incorporate gender-specific pain thresholds into safety limit calculations.

Main Methods:

  • A human-subject study involving 112 participants across 28 body locations.
  • Gradual increase of contact force until slight pain was reported.
  • Utilized a regression model to account for gender differences in pain thresholds.

Main Results:

  • Experimentally verified biomechanical limits for human-cobot interactions were established.
  • Pain thresholds differ significantly between males and females in specific body regions.
  • A statistical model incorporating gender as a covariate was developed for personalized limit calculation.

Conclusions:

  • The study provides crucial, verified data for enhancing cobot safety standards.
  • Gender-specific pain thresholds must be considered for accurate biomechanical limit setting.
  • The developed model allows for precise, percentile-based safety limits for diverse workforces.