痛覚耐性値に基づく安全な人間の接触検出および停止機能を有するロボットシステム

概要

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In this paper, we propose a human-safety-oriented design method to realize a safe robot system for human-robot coexistence. We conduct some simulations to identify problems in human-robot collision situations, and point out, based on the human pain tolerance limit which we have clarified, that a robot working next to a human should be covered with a soft material and be equipped with prompt stopping capability. First, we construct a fail-safe robot system with contact sensing and subsequent emergency stop control capabilities using a simple disturbance observer which plays an important role in checking the normal operation of a two-link DD-motor-driven manipulator. Second, we design a soft covering made of a viscoetastic material which achieves both effective impact force attenuation and high contact sensitivity, keeping impact force within the human pain tolerance limit. Finally, we demonstrate actual human-robot collision experiments to show that the contact force generated at collisions was suppressed below the human pain tolerance limit.
一般社団法人日本機械学会の論文
1997-10-25