Abstract
The use of robots that share their workspace with humans in cooperative tasks, involves new risks for human safety. To ensure safety of the user, flexible robots and variable stiffness actuators are growing in interest. In this paper, a dynamic model of the collision between a 1 d.o.f. robot arm and a human head is presented. This model incorporates the many times neglected link and gear transmission flexibility. The contribution of the link flexibility and the variable stiffness actuator to human safety and to robot joint protection is evaluated. The head injury criterion and fracture force of cranial bones have been used as safety criteria for the human head.
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Notes
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German Aerospace Center.
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European National Car Assesment Protocol.
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Acknowledgments
This work has been partially funded by the Spanish “Ministerio de Ciencia e Innovación” under the projects “DAVARBOT” (DPI 2011-22513) and the Andalusia Regional Government under the Grants FPDU 2008 and FPDU 2009 co-financed by the European Union through the European Regional Development Fund (ERDF).
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López-Martínez, J., García-Vallejo, D., Torres, J.L., Giménez, A., López, J.A. (2013). Role of Link Flexibility and Variable Stiffness Actuator on Collision Safety for Service Robots. In: Viadero, F., Ceccarelli, M. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 7. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4902-3_53
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DOI: https://doi.org/10.1007/978-94-007-4902-3_53
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