DocumentCode
1395785
Title
Study on Soft-Tissue Injury in Robotics
Author
Haddadin, Sami ; Albu-Schäffer, Alin ; Haddadin, Fahed ; Rosmann, Juurgen ; Hirzinger, Gerd
Author_Institution
Inst. of Robot. & Mechatron., DLR - German Aerosp. Center, Wessling, Germany
Volume
18
Issue
4
fYear
2011
Firstpage
20
Lastpage
34
Abstract
This article details the analysis of soft-tissue injuries caused by sharp tools that are mounted on/grasped by a robot. The evaluation is considered as the next step down the road to a complete safety analysis of robots for human-robot interaction (HRI). We conduct an analysis of soft-tissue injuries based on available biomechanical and forensic data and present various experimental results with biological tissue for validation. Furthermore, possible countermeasures are proposed and evaluated by means of measurable injury reduction.
Keywords
biological tissues; biomechanics; dexterous manipulators; human-robot interaction; injuries; medical robotics; biological tissue; biomechanical data; forensic data; grasping robots; human-robot interaction; robotics; sharp tools; soft tissue injuries; Collision avoidance; Force; Humans; Robots; Skin; Wounds;
fLanguage
English
Journal_Title
Robotics & Automation Magazine, IEEE
Publisher
ieee
ISSN
1070-9932
Type
jour
DOI
10.1109/MRA.2011.942996
Filename
6099674
Link To Document