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Open AccessArticle

A Virtual Pressure and Force Sensor for Safety Evaluation in Collaboration Robot Application

Deptment of Mechanical Engineering, Kyung Hee University, Yongin-si, Gyeonggi-do, 17104, Korea
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This manuscript is extension version of the conference paper: A Real-Time Human-Robot Collision Safety Evaluation Method for Collaborative Robot. In Proceedings of 5th Workshop on Collaboration of Humans, Agents, Robots, Machines and Sensors (CHARMS 2019) of the Third IEEE International Conference on Robotic Computing (IRC), 25–27 February 2019.
Sensors 2019, 19(19), 4328; https://doi.org/10.3390/s19194328
Received: 14 August 2019 / Revised: 24 September 2019 / Accepted: 3 October 2019 / Published: 7 October 2019
Recent developments in robotics have resulted in implementations that have drastically increased collaborative interactions between robots and humans. As robots have the potential to collide intentionally and/or unexpectedly with a human during the collaboration, effective measures to ensure human safety must be devised. In order to estimate the collision safety of a robot, this study proposes a virtual sensor based on an analytical contact model that accurately estimates the peak collision force and pressure as the robot moves along a pre-defined path, even before the occurrence of a collision event, with a short computation time. The estimated physical interaction values that would be caused by the (hypothetical) collision were compared to the collision safety thresholds provided within ISO/TS 15066 to evaluate the safety of the operation. In this virtual collision sensor model, the nonlinear physical characteristics and the effect of the contact surface shape were included to assure the reliability of the prediction. To verify the effectiveness of the virtual sensor model, the force and pressure estimated by the model were compared with various experimental results and the numerical results obtained from a finite element simulation. View Full-Text
Keywords: virtual sensor; collision safety; collaborative robot; contact pressure; contact force virtual sensor; collision safety; collaborative robot; contact pressure; contact force
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MDPI and ACS Style

Shin, H.; Kim, S.; Seo, K.; Rhim, S. A Virtual Pressure and Force Sensor for Safety Evaluation in Collaboration Robot Application. Sensors 2019, 19, 4328.

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