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
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;
Journal_Title :
Robotics & Automation Magazine, IEEE
DOI :
10.1109/MRA.2011.942996
