Safety evaluation method of design and control for human-care robots

被引：170

作者：

Ikuta, K ^{[1
]}

Ishii, H

Nokata, M

机构：

[1] Nagoya Univ, Dept Micro Syst Engn, Sch Engn, Nagoya, Aichi, Japan

[2] Ritsumeikan Univ, Fac Sci & Engn, Dept Robot, Kyoto 603, Japan

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 2003年 / 22卷 / 05期

关键词：

human-care robot; safety evaluation; danger index; safety design and control;

D O I：

10.1177/0278364903022005001

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We propose the world's first general method of evaluating safety for human-care robots. In the case of a careless collision between a robot and a human, impact force and impact stress are chosen as evaluation measures, and a danger-index is defined to quantitatively evaluate the effectiveness of each safety strategy used for design and control. As a result, this proposed method allows us to assess the contribution of each safety strategy to the overall safety performance of a human-care robot. In addition, a new type of three-dimensional robot simulation system for danger evaluation is constructed on a PC. The system simplifies the danger evaluation of both the design and control of various types of human-care robots to quantify the effectiveness of various safety strategies.

引用

页码：281 / 297

页数：17

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