Adaptive Electronic Skin Sensitivity for Safe Human-Robot Interaction
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00378397" target="_blank" >RIV/68407700:21230/24:00378397 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/Humanoids58906.2024.10769602" target="_blank" >https://doi.org/10.1109/Humanoids58906.2024.10769602</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/Humanoids58906.2024.10769602" target="_blank" >10.1109/Humanoids58906.2024.10769602</a>
Alternative languages
Result language
angličtina
Original language name
Adaptive Electronic Skin Sensitivity for Safe Human-Robot Interaction
Original language description
Artificial electronic skins covering complete robot bodies can make physical human-robot collaboration safe and hence possible. Standards for collaborative robots (e.g., ISO/TS 15066) prescribe permissible forces and pressures during contacts with the human body. These characteristics of the collision depend on the speed of the colliding robot link but also on its effective mass. Thus, to warrant contacts complying with the Power and Force Limiting (PFL) collaborative regime but at the same time maximizing productivity, protective skin thresholds should be set individually for different parts of the robot bodies and dynamically on the run. Here we present and empirically evaluate four scenarios: (a) static and uniform - fixed thresholds for the whole skin, (b) static but different settings for robot body parts, (c) dynamically set based on every link velocity, (d) dynamically set based on effective mass of every robot link. We perform experiments in simulation and on a real 6axis collaborative robot arm (UR10e) completely covered with sensitive skin (AIRSKIN) comprising eleven individual pads. On a mock pick-and-place scenario with transient collisions with the robot body parts and two collision reactions (stop and avoid), we demonstrate the boost in productivity in going from the most conservative setting of the skin thresholds (a) to the most adaptive setting (d). The threshold settings for every skin pad are adapted with a frequency of 25 Hz. This work can be easily extended for platforms with more degrees of freedom and larger skin coverage (humanoids) and to social human-robot interaction scenarios where contacts with the robot will be used for communication.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/EH22_008%2F0004590" target="_blank" >EH22_008/0004590: Robotics and advanced industrial production</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2024 IEEE-RAS 23th International Conference on Humanoid Robots (Humanoids)
ISBN
979-8-3503-7357-8
ISSN
2164-0572
e-ISSN
2164-0580
Number of pages
8
Pages from-to
475-482
Publisher name
IEEE
Place of publication
Piscataway
Event location
Nancy
Event date
Nov 22, 2024
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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