Effect of Active and Passive Protective Soft Skins on Collision Forces in Human-robot Collaboration

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00354280" target="_blank" >RIV/68407700:21230/22:00354280 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1016/j.rcim.2022.102363" target="_blank" >https://doi.org/10.1016/j.rcim.2022.102363</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.rcim.2022.102363" target="_blank" >10.1016/j.rcim.2022.102363</a>

Result language

angličtina

Original language name

Effect of Active and Passive Protective Soft Skins on Collision Forces in Human-robot Collaboration

Original language description

Soft electronic skins are one of the means to turn a classical industrial manipulator into a collaborative robot. For manipulators that are already fit for physical human–robot collaboration, soft skins can make them even safer. In this work, we study the after impact behavior of two collaborative manipulators (UR10e and KUKA LBR iiwa) and one classical industrial manipulator (KUKA Cybertech), in the presence or absence of an industrial protective skin (AIRSKIN). In addition, we isolate the effects of the passive padding and the active contribution of the sensor to robot reaction. We present a total of 2250 collision measurements and study the impact force, contact duration, clamping force, and impulse. This collected dataset is publicly available. We summarize our results as follows. For transient collisions, the passive skin properties lowered the impact forces by about 40 %. During quasi-static contact, the effect of skin covers – active or passive – cannot be isolated from the collision detection and reaction by the collaborative robots. Important effects of the stop categories triggered by the active protective skin were found. We systematically compare the different settings and compare the empirically established safe velocities with prescriptions by the ISO/TS 15066. In some cases, up to the quadruple of the ISO/TS 15066 prescribed velocity can comply with the impact force limits and thus be considered safe. We propose an extension of the formulas relating impact force and permissible velocity that take into account the stiffness and compressible thickness of the protective cover, leading to better predictions of the collision forces. At the same time, this work emphasizes the need for in situ measurements as all the factors we studied – presence of active/passive skin, safety stop settings, robot collision reaction, impact direction, and, of course, velocity – have effects on the force evolution after impact.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

20204 - Robotics and automatic control

Project

<a href="/en/project/GX20-24186X" target="_blank" >GX20-24186X: Whole-body awareness for safe and natural interaction: from brains to collaborative robots</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2022

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Robotics and Computer-Integrated Manufacturing

ISSN

0736-5845

e-ISSN

1879-2537

Volume of the periodical

78

Issue of the periodical within the volume

December

Country of publishing house

IE - IRELAND

Number of pages

16

Pages from-to

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UT code for WoS article

000802993300001

EID of the result in the Scopus database

2-s2.0-85130320269